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citros-garden / robotic_arm

Robotic arm example for CITROS integration
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Problem with loading data: unsupported message type #10

Open gtep96 opened 7 months ago

gtep96 commented 7 months ago

while uploading data from simulation to database, some of the topics were skipped. Here is the CITROS output

Uploading data to DB... simulation_my_doosan_gazebo_controller / robotic_arm / 20240201125547
[02/01/24 14:14:04] DEBUG    Batch.init()                                                                                                                                             batch.py:93
                    DEBUG    self.batch_dir:.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547                                                            batch.py:94
                    DEBUG    Batch._load()                                                                                                                                           batch.py:205
                    DEBUG    loading version: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/info.json                                               batch.py:213
                    INFO     Successfully connected to Postgres Database                                                                                                          database.py:150
                    DEBUG    dropping table: simulation_my_doosan_gazebo_controller.robotic_arm                                                                                   database.py:198
                    DEBUG    rendered_sql: -- ENV                                                                                                                                 database.py:217
                             -- simulation_my_doosan_gazebo_controller                                                                                                                           
                             -- robotic_arm                                                                                                                                                      

                             DROP TABLE IF EXISTS simulation_my_doosan_gazebo_controller."robotic_arm";                                                                                          
                    DEBUG    -- ENV                                                                                                                                               database.py:222
                             -- simulation_my_doosan_gazebo_controller                                                                                                                           
                             -- robotic_arm                                                                                                                                                      

                             DROP TABLE IF EXISTS simulation_my_doosan_gazebo_controller."robotic_arm";                                                                                          
                    DEBUG    Batch.upload()                                                                                                                                 batch_uploader.py:442
                    INFO     Successfully connected to Postgres Database                                                                                                          database.py:150
                    DEBUG    creating table: simulation_my_doosan_gazebo_controller.robotic_arm                                                                                   database.py:169
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.1240090753377438}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    DEBUG            Inserting buffer size: 0.14 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.047 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/4/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.13691139221191406 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.4455073281353242}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.15 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.028 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/1/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.14557552337646484 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.4206172012085563}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.13 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.037 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/7/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.13499069213867188 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.08223297864655271}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                    
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    DEBUG            Inserting buffer size: 0.13 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.029 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/6/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.1278066635131836 MB], error: None                                                                                                                                 
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.4106301879363483}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.14 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.057 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/0/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.14339828491210938 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.3749709223549307}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.13 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.027 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/8/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.12796497344970703 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.09796804130738301}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                    
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    DEBUG            Inserting buffer size: 0.12 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.030 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/9/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.12221717834472656 MB], error: None                                                                                                                                
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.25310924862051626}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                    
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.14 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.026 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/3/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.1406688690185547 MB], error: None                                                                                                                                 
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.45312031997686664}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                    
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.14 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.039 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/5/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:                         
                             0.1400766372680664 MB], error: None                                                                                                                                 
                    DEBUG    Found yaml parameters file: inverse_kinematic_pkg.yaml                                                                                         batch_uploader.py:175
                    DEBUG    Found yaml parameters file: my_doosan_pkg.yaml                                                                                                 batch_uploader.py:175
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/config/inverse_kinematic_pkg.yaml   batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"inverse_kinematic_pkg\": {\"ros__parameters\": {\"ori0\": -0.102, \"ori1\": 1.57, \"ori3\": -0.686, \"pos0\": -0.8, \"pos1\": 0.8,                             
                             \"pos2\": 0.3}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                          
                    DEBUG    Uploading parameter file: .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/config/my_doosan_pkg.yaml           batch_uploader.py:392
                    DEBUG    Parameter:                                                                                                                                     batch_uploader.py:394
                             ["{\"trajectory_points_act_server\": {\"ros__parameters\": {\"j0\": -0.8, \"j1\": 0.2, \"j2\": 0.75, \"j3\": -0.102, \"j4\": 1.57, \"j5\":                          
                             0.2805488502208368}}, \"trajectory_points_topic\": {\"ros__parameters\": {}}}"]                                                                                     
                    DEBUG    Found SQLITE3 bag: bags_0.citros.db3                                                                                                            batch_uploader.py:89
                    INFO     Uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/bags/bags_0.citros/bags_0.citros.db3 to PG          batch_uploader.py:285
                    DEBUG    custom_message_path = []                                                                                                           reader_with_custom_messages.py:86
                    DEBUG    sqlite3 bag detected,                                                                                                             reader_with_custom_messages.py:131
                             .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/bags/bags_0.citros/bags_0.citros.db3                                               
                    WARNING  [KeyError] skipping topic: /contact_sensor/bumper_link6 because unsupported message type: gazebo_msgs/msg/ContactsState, if       reader_with_custom_messages.py:159
                             nested, unknown: 'gazebo_msgs/msg/ContactsState'                                                                                                                    
                    WARNING  [KeyError] skipping topic: /gazebo/model_states because unsupported message type: gazebo_msgs/msg/ModelStates, if nested,         reader_with_custom_messages.py:159
                             unknown: 'gazebo_msgs/msg/ModelStates'                                                                                                                              
                    WARNING  [KeyError] skipping topic: /gazebo/link_states because unsupported message type: gazebo_msgs/msg/LinkStates, if nested, unknown:  reader_with_custom_messages.py:159
                             'gazebo_msgs/msg/LinkStates'                                                                                                                                        
                    WARNING  [KeyError] skipping topic: /dynamic_joint_states because unsupported message type: control_msgs/msg/DynamicJointState, if nested, reader_with_custom_messages.py:159
                             unknown: 'control_msgs/msg/DynamicJointState'                                                                                                                       
                    WARNING  [KeyError] skipping topic: /joint_trajectory_controller/state because unsupported message type:                                   reader_with_custom_messages.py:159
                             control_msgs/msg/JointTrajectoryControllerState, if nested, unknown: 'control_msgs/msg/JointTrajectoryControllerState'                                              
                    DEBUG            Inserting buffer size: 0.13 MB                                                                                                         batch_uploader.py:298
                    DEBUG    Done uploading .citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/bags/bags_0.citros/bags_0.citros.db3, took     batch_uploader.py:323
                             0.034 [sec]                                                                                                                                                         
                    DEBUG    status: True, message: Success, uploaded                                                                                                       batch_uploader.py:503
                             [.citros/data/simulation_my_doosan_gazebo_controller/robotic_arm/20240201125547/2/bags/bags_0.citros/bags_0.citros.db3] to Postgres. [size:
vovacooper commented 7 months ago

@iftahnaf please take a look. i think that we already talked about this issue. please let me know

gtep96 commented 7 months ago

because unsupported message type: control_msgs/msg/DynamicJointState

looks like problem is here. How is better to solve it? Should i install something in addition? If i understand correctly, all msgs types were installed into container since the simulation itself runs ok

Control_msgs were installed inside devcontainer: image

iftahnaf commented 7 months ago

I think the problem in this case is that custom message path is empty - DEBUG custom_message_path = [].

In general, the hot reload custom messages parser works as follows:

  1. Custom messages are messages that are not built-in in ROS, and are not installed when you install ROS via apt. There are custom messages that you can download to your underlay (/opt/ros/ROS-DISTRO/) and whenever you source your underlay you can use them.
  2. For custom message parsing, we use rosbags, which can parse custom messages if you give it a folder that contains the custom message definition (.msg files).
  3. The current CLI can detect custom messages in your overlay (current_ws/src/package/msgs) and upload them to ./citros/bla/bla/msgs, then the hot reload parser (which uses rosbags) can decode the custom messages in the bags.
  4. The CLI is not loading custom messages that you installed in your underlay via apt - this is the log message that you see in this case.
  5. To fix this, you can just install any necessary custom message in your overlay instead of the underlay (meaning build it from source and not install it with apt).
gtep96 commented 7 months ago

@iftahnaf Hi Iftach, or i'm doing something wrong or this didnt help: I have the package (control_msgs in this case) in my overlay: image

and it was built: image

but the topics still skipped. What did i do wrong?

iftahnaf commented 7 months ago

Hi @gtep96,

I think that the problem is in the parser of the custom message path, because of the print of: custom_message_path = []

@vovacooper Shalev wrote this and it worked in the older version of CITROS, maybe you changed something?