hrpsys-simulatorで録画専用モードがあるとうれしいです．

[fkanehiro]

From kei.ok...@gmail.com on July 24, 2012 17:09:34

hrpsys-simulator --exit-on-end t --recort t みたいにすると，自動で録画を開始し，シミュレーション時間が終わったら 自動で終了してくれるモードがあると，バッチでいろいろな録画ができて うれしいです

Original issue: http://code.google.com/p/hrpsys-base/issues/detail?id=15

[fkanehiro]

From fkaneh...@gmail.com on July 24, 2012 07:54:59

r411 で対応しました。 -recordをつけて起動するとシミュレーションを実行し、動画を生成して終了します。シミュレーションしながら録画というのが簡単にはできなかったのでシミュレーションが終わってから再度プレイバックして動画を生成します。 動画は作らないがシミュレーションが終わったら終了して欲しい場合は-exit-on-finishをつけます。

[fkanehiro]

From kei.ok...@gmail.com on July 24, 2012 22:54:52

ありがとうございます．ただ，やはりexitしませんね．変なカーネルを使っているからでしょうか？後で別のマシンでためしてみますが．．． Linux kokada-t420s 3.0.35-rt56 #1 SMP PREEMPT RT Thu Jun 21 00:00:08 JST 2012 x86_64 x86_64 x86_64 GNU/Linux

[fkanehiro]

From fkaneh...@gmail.com on July 25, 2012 00:25:05

もし別のマシンでも止まるようであれば、gdbで外から止めてどこで止まっているか見てみて下さい。

[fkanehiro]

From kei.ok...@gmail.com on July 25, 2012 05:23:38

leus@HW-desktop1:~/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/launch$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 10.04.4 LTS Release: 10.04 Codename: lucid leus@HW-desktop1:~/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/launch$ uname -a Linux HW-desktop1 2.6.32-21-generic #32-Ubuntu SMP Fri Apr 16 08:09:38 UTC 2010 x86_64 GNU/Linux

で以下でした

Starting program: /home/leus/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/bin/hrpsys-simulator /home/leus/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.xml -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -o exec_cxt.periodic.rate:200 -o manager.shutdown_onrtcs:NO -o manager.is_master:YES -o manager.modules.load_path:/home/leus/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/leus/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.conf name:=rtcd log:=/home/leus/.ros/log/52fbc862-d640-11e1-a1f2-0019b910e03a/rtcd-3.log [Thread debugging using libthread_db enabled] [New Thread 0x7fffe0df3700 (LWP 31696)] [New Thread 0x7fffe05f2700 (LWP 31697)] [New Thread 0x7fffdfdf1700 (LWP 31698)] HGcontroller0: onInitialize() [New Thread 0x7fffdf1b7700 (LWP 31706)] [Thread 0x7fffdf1b7700 (LWP 31706) exited] [New Thread 0x7fffde9b6700 (LWP 31707)] createBody(HRP4C(Robot)0,file:///home/leus/ros/electric/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl) [New Thread 0x7fffdda4d700 (LWP 31709)] [Thread 0x7fffdda4d700 (LWP 31709) exited] [New Thread 0x7fffdce1d700 (LWP 31720)] SequencePlayer::onInitialize() Warning: Model HRP4 has empty joint ID in the valid IDs. Warning: Model HRP4 has empty joint ID in the valid IDs. Loading body customizer "/home/leus/ros/electric/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [New Thread 0x7fffd7fff700 (LWP 31721)] [Thread 0x7fffd7fff700 (LWP 31721) exited] HGcontroller1: onInitialize() [New Thread 0x7fffd77fe700 (LWP 31722)] [Thread 0x7fffd77fe700 (LWP 31722) exited] StateHolder: dt = 2.04441e-17 [New Thread 0x7fffd6daf700 (LWP 31723)] [Thread 0x7fffd6daf700 (LWP 31723) exited] Warning: Model HRP4 has empty joint ID in the valid IDs. Warning: Model HRP4 has empty joint ID in the valid IDs. log: onInitialize() [New Thread 0x7fffd6350700 (LWP 31724)] [Thread 0x7fffd6350700 (LWP 31724) exited] createBody(longfloor,file:///home/leus/ros/electric/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/project/../model/longfloor.wrl) [New Thread 0x7fffd5b4f700 (LWP 31725)] [Thread 0x7fffd5b4f700 (LWP 31725) exited] HGcontroller0:0.005 HRP4C(Robot)0:0.005 making a connection between HGcontroller0.qOut and HRP4C(Robot)0.qRef making a connection between HGcontroller0.dqOut and HRP4C(Robot)0.dqRef making a connection between HGcontroller0.ddqOut and HRP4C(Robot)0.ddqRef number of receivers:2 timestep = 0.005, total time = 20 [New Thread 0x7fffd534e700 (LWP 31726)] HGcontroller0: onActivated(0) BodyRTC::onActivated(0) SequencePlayer::onActivated(1000) HGcontroller1: onActivated(1000) [Thread 0x7fffd534e700 (LWP 31726) exited] [Thread 0x7fffdce1d700 (LWP 31720) exited] ^C Program received signal SIGINT, Interrupt. 0x00007fffee5ce69d in nanosleep () from /lib/libc.so.6 (gdb) where

0 0x00007fffee5ce69d in nanosleep () from /lib/libc.so.6

1 0x00007fffee603df4 in usleep () from /lib/libc.so.6

2 0x00007ffff01c3859 in coil::usleep (usec=50000)

at ../../../src/lib/coil/include/coil/Time.h:111

3 0x00007ffff01f9e87 in RTC::PeriodicExecutionContext::deactivate_component (

this=0x7743f8, comp=0x771c80) at PeriodicExecutionContext.cpp:391

4 0x00007ffff02c3607 in _0RL_lcfn_bf82f9885dac07a6_52000000 (

cd=0x7fffffffc0a0, svnt=0x7748a0)
at ../../../../src/lib/rtm/idl/RTCSK.cc:1608

5 0x00007ffff0e053ef in omni::omniOrbPOA::dispatch(omniCallDescriptor&, omniLocalIdentity*) () from /usr/lib/libomniORB4.so.1

6 0x00007ffff0deb327 in omniLocalIdentity::dispatch(omniCallDescriptor&) ()

from /usr/lib/libomniORB4.so.1

7 0x00007ffff0dfcd36 in omniObjRef::_invoke(omniCallDescriptor&, bool) ()

from /usr/lib/libomniORB4.so.1

8 0x00007ffff02c3696 in RTC::_objref_ExecutionContext::deactivate_component (

this=0x7732c0, comp=0x771c80) at ../../../../src/lib/rtm/idl/RTCSK.cc:1618

9 0x00007ffff0219c34 in RTC::RTObject_impl::deactivate_comps::operator() (

this=0x7fffffffc230, ec=0x7732c0) at ../../../src/lib/rtm/RTObject.h:4887

10 0x00007ffff021aae2 in CORBA_SeqUtil::for_each<RTC::ExecutionContextServiceList, RTC::RTObject_impl::deactivate_comps> (seq=..., f=...)

at ../../../src/lib/rtm/CORBA_SeqUtil.h:104

Labels: -Priority-Medium 29321Priority-Medium

[fkanehiro]

From fkaneh...@gmail.com on July 25, 2012 05:33:38

ん？ Issue14 の方にも書きましたが、periodic.rateを1000000とかにしてみるとどうでしょうか？

[fkanehiro]

From kei.ok...@gmail.com on March 24, 2013 06:02:25

Status: Done