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fkanehiro / hrpsys-base

Basic RT components and utilities to control robots using OpenRTM
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QNXで往生しています #228

Closed emijah closed 10 years ago

emijah commented 10 years ago

こんばんは、

2014/5/22 19:00時点で最新のソースをQNXでコンパイルして使おうとしているのですが、2つのエラーで難儀しています。

一つはhrpEC.soのhrpECInit関数の中で行っているstd::cerrへの書き出しです。どういうわけかここでrtcdがsegmentation faultを起こします。システム系のエラーなので、ひとまずコメントアウトしてその先のエラーを探すために再びrtcdをloglevel PARANOIDで実行するとこのissueの最後の出力が出ます。 その出力で気になるのは、次の部分です。

unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc
unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv
unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle
unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE
unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE
unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE
unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE
unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev
unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev
unknown symbol: _ZTv0_n12_N11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev
unknown symbol: _ZTv0_n12_N11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev
unknown symbol: _ZTv0_n16_N11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev
unknown symbol: _ZTv0_n16_N11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev
unknown symbol: _ZTIN7OpenHRP32_impl_AbsoluteForceSensorServiceE
unknown symbol: _ZTIN7OpenHRP32_impl_AbsoluteForceSensorServiceE
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD1Ev
unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD0Ev
unknown symbol: _ZTv0_n12_N7OpenHRP32_impl_AbsoluteForceSensorServiceD1Ev
unknown symbol: _ZTv0_n12_N7OpenHRP32_impl_AbsoluteForceSensorServiceD0Ev
Load failed.
'''
なにか不足しているidlファイルがあるのでしょうか？

-----------------------------------------

bash-4.1# ./rtcd -f /opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.conf Logger::Logger: streambuf address = 0x805fc70 May 22 09:46:11.496 INFO: manager: 1.1.0 May 22 09:46:11.496 INFO: manager: Copyright (C) 2003-2010 May 22 09:46:11.496 INFO: manager: Noriaki Ando May 22 09:46:11.496 INFO: manager: Intelligent Systems Research Institute, AIST May 22 09:46:11.496 INFO: manager: Manager starting. May 22 09:46:11.496 INFO: manager: Starting local logging. May 22 09:46:11.496 TRACE: manager: Manager::initORB() May 22 09:46:11.496 DEBUG: manager: corba.args: May 22 09:46:11.496 DEBUG: manager: - config

May 22 09:46:11.498 DEBUG: manager: corba.endpoint: May 22 09:46:11.498 DEBUG: manager: manager.is_master: YES May 22 09:46:11.499 DEBUG: manager: corba.id: omniORB May 22 09:46:11.499 DEBUG: manager: Endpoint is : :2810 May 22 09:46:11.499 PARANOID: manager: ORB options: -ORBendPoint giop:tcp::2810 May 22 09:46:11.501 TRACE: manager: Manager::initNaming() May 22 09:46:11.501 TRACE: manager: Register Naming Server: corba/localhost:15005 May 22 09:46:11.501 TRACE: NamingManager: NamingManager::registerNameServer(corba, localhost:15005) May 22 09:46:11.501 TRACE: NamingManager: createNamingObj(method = corba, nameserver = localhost:15005 May 22 09:46:11.501 TRACE: manager: Manager::getORB() May 22 09:46:11.504 WARNING: NamingOnCorba: No endpoint for the CORBA naming service (localhost) was found. May 22 09:46:11.504 INFO: NamingManager: NameServer connection succeeded: corba/localhost:15005 May 22 09:46:11.504 TRACE: manager: Manager::initFactories() May 22 09:46:11.504 TRACE: manager: Manager::initExecContext() May 22 09:46:11.504 TRACE: manager: Manager::registerECFactory(PeriodicExecutionContext) May 22 09:46:11.504 TRACE: manager: Manager::registerECFactory(ExtTrigExecutionContext) May 22 09:46:11.504 TRACE: manager: Manager::registerECFactory(SynchExtTriggerEC) May 22 09:46:11.504 TRACE: manager: Manager::initComposite() May 22 09:46:11.504 TRACE: manager: Manager::registerFactory(PeriodicECSharedComposite) May 22 09:46:11.504 TRACE: manager: Manager::initManagerServant() May 22 09:46:11.506 TRACE: ManagerServant: This manager is master. May 22 09:46:11.506 TRACE: manager: Manager::getORB() May 22 09:46:11.507 TRACE: manager: Manager::getORB() May 22 09:46:11.507 DEBUG: ManagerServant: Manager's IOR information: IOR information Type ID: "IDL:RTM/Manager:1.0" Profiles:

  1. IIOP 1.2 192.168.209.102 2810 Object Key: "manager" = 0x6d616e61676572 (7 bytes) TAG_ORB_TYPE omniORB TAG_CODE_SETS char native code set: ISO-8859-1 char conversion code set: UTF-8 wchar native code set: UTF-16 wchar conversion code set: UTF-16

May 22 09:46:11.507 WARNING: ManagerServant: Manager CORBA servant was successfully created. May 22 09:46:11.507 TRACE: NamingManager: NamingManager::bindObject(nxc100.host_cxt/manager.mgr) May 22 09:46:11.507 TRACE: NamingOnCorba: bindObject(name = nxc100.host_cxt/manager.mgr, mgr) May 22 09:46:11.508 TRACE: manager: Manager::activateManager() May 22 09:46:11.508 TRACE: manager: Manager::getPOAManager() May 22 09:46:11.508 TRACE: manager: Manager::getPOAManager() May 22 09:46:11.508 TRACE: manager: POA Manager activated. May 22 09:46:11.508 TRACE: ModuleManager: load(fname = hrpEC.so, init_func = hrpECInit) May 22 09:46:11.508 TRACE: ModuleManager: load(fname = hrpEC.so) May 22 09:46:11.526 TRACE: manager: Manager::registerECFactory(hrpExecutionContext) May 22 09:46:11.526 TRACE: manager: Manager::createComponent(RobotHardware) May 22 09:46:11.526 TRACE: manager: RTC basic propfile vendor: May 22 09:46:11.526 TRACE: manager: RTC basic propfile category: May 22 09:46:11.526 TRACE: manager: RTC basic propfile implementation_id: RobotHardware May 22 09:46:11.527 TRACE: manager: RTC basic propfile version: May 22 09:46:11.527 ERROR: manager: Factory not found: RobotHardware May 22 09:46:11.527 TRACE: ModuleManager: getLoadableModules() May 22 09:46:11.527 DEBUG: ModuleManager: langs: C++, Python, Java May 22 09:46:11.527 DEBUG: ModuleManager: suffixes: so May 22 09:46:11.527 DEBUG: ModuleManager: Module load path: ./ May 22 09:46:11.527 DEBUG: ModuleManager: File list (path:./, ext:so): May 22 09:46:11.527 DEBUG: ModuleManager: Module load path: /opt/jsk/lib May 22 09:46:11.527 DEBUG: ModuleManager: File list (path:/opt/jsk/lib, ext:so): libgsl.so, CollisionDetector.so, libgslcblas.so, libcoil.so, libRTC.so, libCOS4.so, libomniORB4.so, libomnithread.so, libomniConnectionMgmt4.so, libhrpIo.so, OccupancyGridMap3D.so, ExtractCameraImage.so, libdynamicedt3d.so, libCOSDynamic4.so, SimulationEC.so, libomniCodeSets4.so, Range2PointCloud.so, KalmanFilter.so, SequencePlayer.so, libomniDynamic4.so, RemoveForceSensorLinkOffset.so, AutoBalancer.so, GraspController.so, ServoController.so, CaptureController.so, Stabilizer.so, AbsoluteForceSensor.so, ThermoLimiter.so, ImpedanceController.so, SoftErrorLimiter.so, TorqueController.so, libf2c.so, ForwardKinematics.so, DataLogger.so, libqhull_p.so, TorqueFilter.so, RightForceSensor.so, libuuid.so, libqhull.so, SequencePlayer2.so, hrpEC.so, NullComponent.so, ThermoEstimator.so, HGcontroller.so, ImageData2CameraImage.so, libhrpsysUtil.so, RobotHardware.so, libblas.so, WavPlayer.so, StateHolder.so, VirtualForceSensor.so, libhrpsysBaseStub.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libgsl.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/CollisionDetector.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libgslcblas.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libcoil.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libRTC.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libCOS4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libomniORB4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libomnithread.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libomniConnectionMgmt4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libhrpIo.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/OccupancyGridMap3D.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/ExtractCameraImage.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libdynamicedt3d.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libCOSDynamic4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/SimulationEC.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libomniCodeSets4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/Range2PointCloud.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/KalmanFilter.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/SequencePlayer.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/libomniDynamic4.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/RemoveForceSensorLinkOffset.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/AutoBalancer.so May 22 09:46:11.528 DEBUG: ModuleManager: New module: /opt/jsk/lib/GraspController.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ServoController.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/CaptureController.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/Stabilizer.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/AbsoluteForceSensor.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ThermoLimiter.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ImpedanceController.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/SoftErrorLimiter.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/TorqueController.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/libf2c.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ForwardKinematics.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/DataLogger.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/libqhull_p.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/TorqueFilter.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/RightForceSensor.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/libuuid.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/libqhull.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/SequencePlayer2.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/hrpEC.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/NullComponent.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ThermoEstimator.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/HGcontroller.so May 22 09:46:11.529 DEBUG: ModuleManager: New module: /opt/jsk/lib/ImageData2CameraImage.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/libhrpsysUtil.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/RobotHardware.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/libblas.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/WavPlayer.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/StateHolder.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/VirtualForceSensor.so May 22 09:46:11.530 DEBUG: ModuleManager: New module: /opt/jsk/lib/libhrpsysBaseStub.so May 22 09:46:11.530 DEBUG: ModuleManager: C++: /opt/jsk/lib/libgsl.so, /opt/jsk/lib/CollisionDetector.so, /opt/jsk/lib/libgslcblas.so, /opt/jsk/lib/libcoil.so, /opt/jsk/lib/libRTC.so, /opt/jsk/lib/libCOS4.so, /opt/jsk/lib/libomniORB4.so, /opt/jsk/lib/libomnithread.so, /opt/jsk/lib/libomniConnectionMgmt4.so, /opt/jsk/lib/libhrpIo.so, /opt/jsk/lib/OccupancyGridMap3D.so, /opt/jsk/lib/ExtractCameraImage.so, /opt/jsk/lib/libdynamicedt3d.so, /opt/jsk/lib/libCOSDynamic4.so, /opt/jsk/lib/SimulationEC.so, /opt/jsk/lib/libomniCodeSets4.so, /opt/jsk/lib/Range2PointCloud.so, /opt/jsk/lib/KalmanFilter.so, /opt/jsk/lib/SequencePlayer.so, /opt/jsk/lib/libomniDynamic4.so, /opt/jsk/lib/RemoveForceSensorLinkOffset.so, /opt/jsk/lib/AutoBalancer.so, /opt/jsk/lib/GraspController.so, /opt/jsk/lib/ServoController.so, /opt/jsk/lib/CaptureController.so, /opt/jsk/lib/Stabilizer.so, /opt/jsk/lib/AbsoluteForceSensor.so, /opt/jsk/lib/ThermoLimiter.so, /opt/jsk/lib/ImpedanceController.so, /opt/jsk/lib/SoftErrorLimiter.so, /opt/jsk/lib/TorqueController.so, /opt/jsk/lib/libf2c.so, /opt/jsk/lib/ForwardKinematics.so, /opt/jsk/lib/DataLogger.so, /opt/jsk/lib/libqhull_p.so, /opt/jsk/lib/TorqueFilter.so, /opt/jsk/lib/RightForceSensor.so, /opt/jsk/lib/libuuid.so, /opt/jsk/lib/libqhull.so, /opt/jsk/lib/SequencePlayer2.so, /opt/jsk/lib/hrpEC.so, /opt/jsk/lib/NullComponent.so, /opt/jsk/lib/ThermoEstimator.so, /opt/jsk/lib/HGcontroller.so, /opt/jsk/lib/ImageData2CameraImage.so, /opt/jsk/lib/libhrpsysUtil.so, /opt/jsk/lib/RobotHardware.so, /opt/jsk/lib/libblas.so, /opt/jsk/lib/WavPlayer.so, /opt/jsk/lib/StateHolder.so, /opt/jsk/lib/VirtualForceSensor.so, /opt/jsk/lib/libhrpsysBaseStub.so May 22 09:46:11.568 TRACE: ManagerServant: add_slave_manager(), 0 slaves May 22 09:46:11.568 TRACE: ManagerServant: add_slave_manager() done, 1 slaves Load failed. May 22 09:46:11.573 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.609 TRACE: ManagerServant: add_slave_manager(), 1 slaves May 22 09:46:11.609 TRACE: ManagerServant: add_slave_manager() done, 2 slaves May 22 09:46:11.682 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.718 TRACE: ManagerServant: add_slave_manager(), 2 slaves May 22 09:46:11.718 TRACE: ManagerServant: add_slave_manager() done, 3 slaves Load failed. May 22 09:46:11.721 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.757 TRACE: ManagerServant: add_slave_manager(), 3 slaves May 22 09:46:11.757 TRACE: ManagerServant: add_slave_manager() done, 4 slaves Load failed. May 22 09:46:11.760 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.796 TRACE: ManagerServant: add_slave_manager(), 4 slaves May 22 09:46:11.796 TRACE: ManagerServant: add_slave_manager() done, 5 slaves Load failed. May 22 09:46:11.799 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.834 TRACE: ManagerServant: add_slave_manager(), 5 slaves May 22 09:46:11.835 TRACE: ManagerServant: add_slave_manager() done, 6 slaves Load failed. May 22 09:46:11.848 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.884 TRACE: ManagerServant: add_slave_manager(), 6 slaves May 22 09:46:11.884 TRACE: ManagerServant: add_slave_manager() done, 7 slaves Load failed. May 22 09:46:11.887 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.923 TRACE: ManagerServant: add_slave_manager(), 7 slaves May 22 09:46:11.923 TRACE: ManagerServant: add_slave_manager() done, 8 slaves Load failed. May 22 09:46:11.926 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:11.962 TRACE: ManagerServant: add_slave_manager(), 8 slaves May 22 09:46:11.962 TRACE: ManagerServant: add_slave_manager() done, 9 slaves Load failed. May 22 09:46:11.965 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.001 TRACE: ManagerServant: add_slave_manager(), 9 slaves May 22 09:46:12.001 TRACE: ManagerServant: add_slave_manager() done, 10 slaves Load failed. May 22 09:46:12.009 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.045 TRACE: ManagerServant: add_slave_manager(), 10 slaves May 22 09:46:12.045 TRACE: ManagerServant: add_slave_manager() done, 11 slaves Load failed. May 22 09:46:12.057 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.093 TRACE: ManagerServant: add_slave_manager(), 11 slaves May 22 09:46:12.093 TRACE: ManagerServant: add_slave_manager() done, 12 slaves Memory fault (core dumped) May 22 09:46:12.352 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.388 TRACE: ManagerServant: add_slave_manager(), 12 slaves May 22 09:46:12.388 TRACE: ManagerServant: add_slave_manager() done, 13 slaves Load failed. May 22 09:46:12.391 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.427 TRACE: ManagerServant: add_slave_manager(), 13 slaves May 22 09:46:12.427 TRACE: ManagerServant: add_slave_manager() done, 14 slaves Load failed. May 22 09:46:12.446 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.481 TRACE: ManagerServant: add_slave_manager(), 14 slaves May 22 09:46:12.482 TRACE: ManagerServant: add_slave_manager() done, 15 slaves Load failed. May 22 09:46:12.491 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.516 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:12.516 VERBOSE: manager: 0 components are marked as finalized. May 22 09:46:12.527 TRACE: ManagerServant: add_slave_manager(), 15 slaves May 22 09:46:12.527 TRACE: ManagerServant: add_slave_manager() done, 16 slaves Load failed. May 22 09:46:12.531 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.567 TRACE: ManagerServant: add_slave_manager(), 16 slaves May 22 09:46:12.567 TRACE: ManagerServant: add_slave_manager() done, 17 slaves Memory fault (core dumped) May 22 09:46:12.917 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:12.953 TRACE: ManagerServant: add_slave_manager(), 17 slaves May 22 09:46:12.953 TRACE: ManagerServant: add_slave_manager() done, 18 slaves Memory fault (core dumped) May 22 09:46:13.279 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:13.315 TRACE: ManagerServant: add_slave_manager(), 18 slaves May 22 09:46:13.315 TRACE: ManagerServant: add_slave_manager() done, 19 slaves May 22 09:46:13.536 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:13.536 VERBOSE: manager: 0 components are marked as finalized. Memory fault (core dumped) May 22 09:46:13.647 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:13.683 TRACE: ManagerServant: add_slave_manager(), 19 slaves May 22 09:46:13.683 TRACE: ManagerServant: add_slave_manager() done, 20 slaves Load failed. May 22 09:46:13.686 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:13.722 TRACE: ManagerServant: add_slave_manager(), 20 slaves May 22 09:46:13.722 TRACE: ManagerServant: add_slave_manager() done, 21 slaves Memory fault (core dumped) May 22 09:46:14.049 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:14.086 TRACE: ManagerServant: add_slave_manager(), 21 slaves May 22 09:46:14.086 TRACE: ManagerServant: add_slave_manager() done, 22 slaves Memory fault (core dumped) May 22 09:46:14.417 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:14.453 TRACE: ManagerServant: add_slave_manager(), 22 slaves May 22 09:46:14.453 TRACE: ManagerServant: add_slave_manager() done, 23 slaves May 22 09:46:14.556 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:14.556 VERBOSE: manager: 0 components are marked as finalized. Memory fault (core dumped) May 22 09:46:14.778 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:14.814 TRACE: ManagerServant: add_slave_manager(), 23 slaves May 22 09:46:14.814 TRACE: ManagerServant: add_slave_manager() done, 24 slaves Memory fault (core dumped) May 22 09:46:15.137 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:15.173 TRACE: ManagerServant: add_slave_manager(), 24 slaves May 22 09:46:15.173 TRACE: ManagerServant: add_slave_manager() done, 25 slaves Memory fault (core dumped) May 22 09:46:15.423 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:15.459 TRACE: ManagerServant: add_slave_manager(), 25 slaves May 22 09:46:15.459 TRACE: ManagerServant: add_slave_manager() done, 26 slaves May 22 09:46:15.576 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:15.576 VERBOSE: manager: 0 components are marked as finalized. Memory fault (core dumped) May 22 09:46:15.867 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:15.904 TRACE: ManagerServant: add_slave_manager(), 26 slaves May 22 09:46:15.904 TRACE: ManagerServant: add_slave_manager() done, 27 slaves unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD2Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZTv0_n16_N7OpenHRP32_impl_AbsoluteForceSensorService15_ptrToInterfaceEPKc unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZTv0_n24_N7OpenHRP32_impl_AbsoluteForceSensorService18_mostDerivedRepoIdEv unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZTv0_n40_N7OpenHRP32_impl_AbsoluteForceSensorService9_dispatchER14omniCallHandle unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE unknown symbol: _ZTIN11POA_OpenHRP26AbsoluteForceSensorServiceE unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev unknown symbol: _ZN11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev unknown symbol: _ZTv0_n12_N11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev unknown symbol: _ZTv0_n12_N11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev unknown symbol: _ZTv0_n16_N11POA_OpenHRP26AbsoluteForceSensorServiceD1Ev unknown symbol: _ZTv0_n16_N11POA_OpenHRP26AbsoluteForceSensorServiceD0Ev unknown symbol: _ZTIN7OpenHRP32_impl_AbsoluteForceSensorServiceE unknown symbol: _ZTIN7OpenHRP32_impl_AbsoluteForceSensorServiceE unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD1Ev unknown symbol: _ZN7OpenHRP32_impl_AbsoluteForceSensorServiceD0Ev unknown symbol: _ZTv0_n12_N7OpenHRP32_impl_AbsoluteForceSensorServiceD1Ev unknown symbol: _ZTv0_n12_N7OpenHRP32_impl_AbsoluteForceSensorServiceD0Ev Load failed. May 22 09:46:15.955 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:15.991 TRACE: ManagerServant: add_slave_manager(), 27 slaves May 22 09:46:15.991 TRACE: ManagerServant: add_slave_manager() done, 28 slaves Memory fault (core dumped) May 22 09:46:16.312 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:16.348 TRACE: ManagerServant: add_slave_manager(), 28 slaves May 22 09:46:16.348 TRACE: ManagerServant: add_slave_manager() done, 29 slaves May 22 09:46:16.595 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:16.595 VERBOSE: manager: 0 components are marked as finalized. Memory fault (core dumped) May 22 09:46:16.667 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:16.704 TRACE: ManagerServant: add_slave_manager(), 29 slaves May 22 09:46:16.704 TRACE: ManagerServant: add_slave_manager() done, 30 slaves Memory fault (core dumped) May 22 09:46:17.021 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:17.057 TRACE: ManagerServant: add_slave_manager(), 30 slaves May 22 09:46:17.057 TRACE: ManagerServant: add_slave_manager() done, 31 slaves Memory fault (core dumped) May 22 09:46:17.372 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:17.408 TRACE: ManagerServant: add_slave_manager(), 31 slaves May 22 09:46:17.408 TRACE: ManagerServant: add_slave_manager() done, 32 slaves Load failed. May 22 09:46:17.411 DEBUG: ModuleManager: rtcprof cmd sub process done. May 22 09:46:17.447 TRACE: ManagerServant: add_slave_manager(), 32 slaves May 22 09:46:17.447 TRACE: ManagerServant: add_slave_manager() done, 33 slaves May 22 09:46:17.615 VERBOSE: manager: Manager::cleanupComponents() May 22 09:46:17.615 VERBOSE: manager: 0 components are marked as finalized. May 22 09:46:17.684 TRACE: manager: Manager::shutdown() May 22 09:46:17.684 TRACE: manager: Manager::shutdownComponents() May 22 09:46:17.684 TRACE: manager: Manager::shutdownNaming() May 22 09:46:17.684 TRACE: NamingManager: NamingManager::unbindAll(): 0 names. May 22 09:46:17.685 TRACE: NamingManager: NamingManager::unbindObject(nxc100.host_cxt/manager.mgr) May 22 09:46:17.685 TRACE: NamingOnCorba: unbindObject(name = nxc100.host_cxt/manager.mgr) May 22 09:46:17.686 TRACE: manager: Manager::shutdownORB() May 22 09:46:17.686 DEBUG: manager: No pending works of ORB. Shutting down POA and ORB. May 22 09:46:17.686 DEBUG: manager: POA Manager was deactivated. May 22 09:46:17.686 DEBUG: manager: POA was destroid. May 22 09:46:17.686 DEBUG: manager: ORB was shutdown. May 22 09:46:17.686 DEBUG: manager: ORB was destroied. May 22 09:46:17.686 TRACE: manager: Manager::shutdownManager() May 22 09:46:17.686 TRACE: manager: Manager::wait() Memory fault (core dumped) May 22 09:46:17.788 DEBUG: ModuleManager: rtcprof cmd sub process done. Memory fault (core dumped) May 22 09:46:18.072 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.111 DEBUG: ModuleManager: rtcprof cmd sub process done. Memory fault (core dumped) May 22 09:46:18.459 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.501 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.538 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.576 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.669 DEBUG: ModuleManager: rtcprof cmd sub process done. Load failed. May 22 09:46:18.722 DEBUG: ModuleManager: rtcprof cmd sub process done. Memory fault (core dumped) May 22 09:46:19.001 DEBUG: ModuleManager: rtcprof cmd sub process done. Memory fault (core dumped) May 22 09:46:19.350 DEBUG: ModuleManager: rtcprof cmd sub process done.

[1]+ Stopped ./rtcd -f /opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.conf bash-4.1# kill %1

[1]+ Stopped ./rtcd -f /opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.conf bash-4.1# Terminated jobs [1]+ software termination signal ./rtcd -f /opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.conf bash-4.1#

emijah commented 10 years ago

わかりました。今はないIDLがインストールされていたままで、それを参照しているライブラリがどこかに残っていたようです。

rtcdが一度rtcの置き場所をチェックする時にスレッドが落ちていたようです。

emijah commented 10 years ago

さらにhrpEC.soのstderrへの書き出しが失敗していた理由がわかりました。 QNXにはlibstdc++というライブラリが一応あるのですが、使ってはならないものみたいです。 libstdc++を追加したのはlibstdc++を要求するバイナリがrtcdにロードされていたためだと思われます。どちらにしてもhrpsys-baseのコードには関係ないのでクローズします。

pazeshun commented 4 years ago

さらにhrpEC.soのstderrへの書き出しが失敗していた理由がわかりました。 QNXにはlibstdc++というライブラリが一応あるのですが、使ってはならないものみたいです。 libstdc++を追加したのはlibstdc++を要求するバイナリがrtcdにロードされていたためだと思われます。どちらにしてもhrpsys-baseのコードには関係ないのでクローズします。

@emijah 昔のことで申し訳ありませんが、こちらの問題はどのように解決されましたでしょうか。 現在、JSKのHIRONXのhrpsysをアップグレードしようとして、同じ問題にハマっております・・・。

emijah commented 4 years ago

昔のバイナリがリンクしているものを見てますか？lddで見られると思います。 qccを使用しているかどうかもポイントになります。qccは必要なオプションをgccに渡してくれる便利なwrapperなのですが、ものによっては（特にomniorb）、 qccでコンパイルしたときにしか使用できなかった覚えがあります。 緊急性が高そうですが、そちらに顔を出して修正することができるのは早くて来週末以降になってしまいます。

2019年11月8日(金) 20:33 Shun Hasegawa notifications@github.com:

さらにhrpEC.soのstderrへの書き出しが失敗していた理由がわかりました。 QNXにはlibstdc++というライブラリが一応あるのですが、使ってはならないものみたいです。

libstdc++を追加したのはlibstdc++を要求するバイナリがrtcdにロードされていたためだと思われます。どちらにしてもhrpsys-baseのコードには関係ないのでクローズします。

@emijah https://github.com/emijah 昔のことで申し訳ありませんが、こちらの問題はどのように解決されましたでしょうか。 現在、JSKのHIRONXのhrpsysをアップグレードしようとして、同じ問題にハマっております・・・。

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pazeshun commented 4 years ago

@emijah コメントありがとうございます。

昔のバイナリがリンクしているものを見てますか？lddで見られると思います。

ありがとうございます、lddを忘れておりましたので、来週見てみます。

qccを使用しているかどうかもポイントになります。

https://github.com/fkanehiro/hrpsys-base/issues/228#issuecomment-551630545 の時点では使っておりませんでした。その後、 @k-okada からcmakeの設定を頂きまして、そちらではqccを使っておりました。 で、その設定でcmake, makeしたところ、コンパイルエラーになってしまいました。 まだエラーを詳しく見れていませんが、もしかするとPR案件なのかもしれません。

緊急性が高そうですが、そちらに顔を出して修正することができるのは早くて来週末以降になってしまいます。

ご心配をおかけしてすみません、お気遣いいただきありがとうございます。緊急性はそこまで高くなく（どうしてもダメそうなら昔のHDDに戻せる）、自力で頑張ってみます。

emijah commented 4 years ago

qccでコンパイルしたライブラリをgccでリンクする場合もトラブった記憶があります。なるべくすべてをqccでコンパイルするようにして、よほどコンパイルできない場合だけ部分的にgccとqccコンパイルのバイナリ部分をまぜて試して見るところからやりました。

2019年11月9日(土) 15:43 Shun Hasegawa notifications@github.com:

@emijah https://github.com/emijah コメントありがとうございます。

昔のバイナリがリンクしているものを見てますか？lddで見られると思います。

ありがとうございます、lddを忘れておりましたので、来週見てみます。

qccを使用しているかどうかもポイントになります。

228 (comment)

https://github.com/fkanehiro/hrpsys-base/issues/228#issuecomment-551630545 の時点では使っておりませんでした。その後、 @k-okada https://github.com/k-okada からcmakeの設定を頂きまして、そちらではqccを使っておりました。 で、その設定でcmake, makeしたところ、コンパイルエラーになってしまいました。 まだエラーを詳しく見れていませんが、もしかするとPR案件なのかもしれません。

緊急性が高そうですが、そちらに顔を出して修正することができるのは早くて来週末以降になってしまいます。

ご心配をおかけしてすみません、お気遣いいただきありがとうございます。緊急性はそこまで高くなく（どうしてもダメそうなら昔のHDDに戻せる）、自力で頑張ってみます。

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