hrpsys_config.pyのconnectComps関数: 想定されている最小構成は？

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現在最小構成で起動しようとしたところ、いろいろとカバ��
�していない条件がありましたので、変更しました。
想定した最小構成はRobotHardware, StateHolder, 
SequencePlayerなのですが、現在sh.port('qOut')とrh.port('qRef')を接続
するとrtcdが落ちてしまいます。原因究明中です。

    # public method
    def connectComps(self):
        # connection for reference joint angles
        tmp_contollers = filter(lambda c : c != None, [self.ic, self.abc, self.st, self.co, self.el])
        if len(tmp_contollers) > 0:
            connectPorts(self.sh.port("qOut"),  tmp_contollers[0].port("qRef"))
            for i in range(len(tmp_contollers)-1):
                connectPorts(tmp_contollers[i].port("q"), tmp_contollers[i+1].port("qRef"))
                if self.simulation_mode :
                    connectPorts(tmp_contollers[-1].port("q"),  self.hgc.port("qIn"))
                    connectPorts(self.hgc.port("qOut"), self.rh.port("qRef"))
                else:
                    connectPorts(tmp_contollers[-1].port("q"),  self.rh.port("qRef"))
        else:
            if self.simulation_mode:
                connectPorts(self.sh.port("qOut"),  self.hgc.port("qIn"))
                connectPorts(self.hgc.port("qOut"), self.rh.port("qRef"))
            else:
                connectPorts(self.sh.port('qOut'), self.rh.port('qRef'))

        # connection for kf
        if self.kf:
            #   currently use first acc and rate sensors for kf
            s_acc=filter(lambda s : s.type == 'Acceleration', self.sensors)
            if (len(s_acc)>0) and self.rh.port(s_acc[0].name) != None: # check existence of sensor ;; currently original HRP4C.xml has different naming rule of gsensor and gyrometer
                connectPorts(self.rh.port(s_acc[0].name), self.kf.port('acc'))
            s_rate=filter(lambda s : s.type == 'RateGyro', self.sensors)
            if (len(s_rate)>0) and self.rh.port(s_rate[0].name) != None: # check existence of sensor ;; currently original HRP4C.xml has different naming rule of gsensor and gyrometer
                connectPorts(self.rh.port(s_rate[0].name), self.kf.port("rate"))
            connectPorts(self.seq.port("accRef"), self.kf.port("accRef"))

        # connection for rh
        if self.rh.port("servoState") != None and self.el:
            connectPorts(self.rh.port("servoState"), self.el.port("servoStateIn"))

        # connection for sh, seq, fk
        if self.seq and self.sh:
            connectPorts(self.seq.port("qRef"), self.sh.port("qIn"))
            connectPorts(self.seq.port("basePos"), self.sh.port("basePosIn"))
            connectPorts(self.seq.port("baseRpy"), self.sh.port("baseRpyIn"))
            connectPorts(self.seq.port("zmpRef"),  self.sh.port("zmpIn"))
            connectPorts(self.sh.port("qOut"), self.seq.port("qInit"))

        if not self.fk:
            print 'fk does not exist'
            connectPorts(self.rh.port("q"), self.sh.port("currentQIn")) # connection for actual joint angles
            if self.seq:
                connectPorts(self.sh.port("basePosOut"), self.seq.port("basePosInit"))
                connectPorts(self.sh.port("baseRpyOut"), self.seq.port("baseRpyInit"))
        else:
            connectPorts(self.rh.port("q"), [self.sh.port("currentQIn"), self.fk.port("q")]) # connection for actual joint angles
            connectPorts(self.sh.port("qOut"),  self.fk.port("qRef"))
            connectPorts(self.sh.port("basePosOut"), [self.seq.port("basePosInit"), self.fk.port("basePosRef")])
            connectPorts(self.sh.port("baseRpyOut"), [self.seq.port("baseRpyInit"), self.fk.port("baseRpyRef")])

        # connection for st
        if rtm.findPort(self.rh.ref, "lfsensor") and rtm.findPort(self.rh.ref, "rfsensor") and self.st:
            connectPorts(self.rh.port("lfsensor"), self.st.port("forceL"))
            connectPorts(self.rh.port("rfsensor"), self.st.port("forceR"))
            connectPorts(self.kf.port("rpy"), self.st.port("rpy"))
            connectPorts(self.abc.port("zmpRef"), self.st.port("zmpRef"))
            connectPorts(self.abc.port("baseRpy"), self.st.port("baseRpyIn"))
            connectPorts(self.abc.port("basePos"), self.st.port("basePosIn"))

        #  actual force sensors
        if self.afs and self.kf:
            #connectPorts(self.kf.port("rpy"), self.ic.port("rpy"))
            connectPorts(self.kf.port("rpy"), self.afs.port("rpy"))
            connectPorts(self.rh.port("q"), self.afs.port("qCurrent"))
            for sen in filter(lambda x : x.type == "Force", self.sensors):
                connectPorts(self.rh.port(sen.name), self.afs.port(sen.name))
                if self.ic:
                    connectPorts(self.afs.port("off_"+sen.name), self.ic.port(sen.name))
        # connection for ic
        if self.ic:
            connectPorts(self.rh.port("q"), self.ic.port("qCurrent"))
        # connection for tf
        if self.tf:
            # connection for actual torques
            if rtm.findPort(self.rh.ref, "tau") != None:
                connectPorts(self.rh.port("tau"), self.tf.port("tauIn"))
            connectPorts(self.rh.port("q"), self.tf.port("qCurrent"))
        # connection for vs
        if self.vs:
            connectPorts(self.rh.port("q"), self.vs.port("qCurrent"))
            connectPorts(self.tf.port("tauOut"), self.vs.port("tauIn"))
            #  virtual force sensors
            if self.ic:
                for vfp in filter(lambda x : str.find(x, 'v') >= 0 and str.find(x, 'sensor') >= 0, self.vs.ports.keys()):
                    connectPorts(self.vs.port(vfp), self.ic.port(vfp))
        # connection for co
        if self.co:
            connectPorts(self.rh.port("q"), self.co.port("qCurrent"))
        # connection for el
        if self.el:
            connectPorts(self.rh.port("q"), self.el.port("qCurrent"))

Original issue reported on code.google.com by emijah.s on 22 Aug 2013 at 9:37

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さらに最小構成のRobotHardwareとStateHolderもうまく行かず、謎��
�す。

Original comment by emijah.s on 22 Aug 2013 at 9:38

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https://code.google.com/p/hrpsys-base/issues/detail?id=130

の問題でしょうか？直したもので試してみてください．

Original comment by kei.ok...@gmail.com on 22 Aug 2013 at 9:41

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ありがとうございます。試してみます。

Original comment by emijah.s on 23 Aug 2013 at 12:09

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Original comment by kei.ok...@gmail.com on 30 Jan 2014 at 11:00

• Changed state: Fixed