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gergondet / panda_cnoid

VRML and project files to run simulation with a panda robot in Choreonoid
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Missing choreonoidConfig.cmake #4

Open ywang-robotics opened 4 years ago

ywang-robotics commented 4 years ago

I found that the cnoid fold is not built by default in the build directory.

I think the error is due to the line: 

#find_package(choreonoid QUIET)

As I already have choreonoid, I manually set: 

set(choreonoid_FOUND true)

I guess in the future, we need a proper choreonoidConfig.cmake

wyqsnddd commented 4 years ago

Hi Pierre,

Following my earlier question, I tried to run the cnoid in the build folder with: 

choreonoid sim_mc_udp.cnoid --start-simulation

but failed to run BodyRTC: 

Project "sim_mc_udp.cnoid" has been completely loaded.
RTC "PDcontroller" is not ready.
Warning: BodyRTC for panda failed to start.
Simulation by AISTSimulator has started.
Execution of Python script "Simulation script (sim_mc_udp.py)" has been started.
Simulation by AISTSimulator has finished at 0.001 [s].
Computation time is 0 [s], computation time / simulation time = 0.
[rtm.py] nshost already set as localhost
[rtm.py] nsport already set as 2809
[rtm.py] Failed to parse corba.master_manager, use 2810
[rtm.py] configuration ORB with localhost:2809
[rtm.py] configuration RTCManager with localhost:2810
[rtm.py] trying to findRTCManager on port2810
creating components
[rtm.py] trying to findRTCManager on port2810
loading file:///usr/share/OpenHRP-3.1/robot/panda/panda_arm_foot.wrl
Humanoid node
Joint node main_link
  Segment node main_link
  Joint node panda_jointA1
    Segment node panda_linkA1
    Joint node panda_jointA2
      Segment node panda_linkA2
      Joint node panda_jointA3
        Segment node panda_linkA3
        Joint node panda_jointA4
          Segment node panda_linkA4
          Joint node panda_jointA5
            Segment node panda_linkA5
            Joint node panda_jointA6
              Segment node panda_linkA6
              Joint node panda_jointA7
                ForceSensorwristsensorA
                Segment node panda_linkA7
The model was successfully loaded ! 
connecting components
[rtm.py]    Failed to connect None to ['StateHolder0.currentQIn']([<RTC._objref_PortService object at 0x7fcedc348ad0>])
The execution of Python script "Simulation script (sim_mc_udp.py)" failed.
AttributeError: 'NoneType' object has no attribute 'port'

At:
  /home/yuquan/local/panda_cnoid/build/cnoid/panda_foot/sim_mc_udp.py(47): connectComps
  /home/yuquan/local/panda_cnoid/build/cnoid/panda_foot/sim_mc_udp.py(115): init
  /home/yuquan/local/panda_cnoid/build/cnoid/panda_foot/sim_mc_udp.py(138): <module>

Is this related to the fact that my cmake failed to find choreonoid?