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hsnuhayato / rtm-ros-robotics

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hironx_ros_bridge/gui/gui.sh problem #20

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
We first set the right robot name at .robothost file.
Then execut gui.sh in hironx_ros_bridge/gui. The application exits with errors. 
Do you know how to solve these errors?

I copy the errors:

/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ro
s_bridge/gui/.robothost
hiro019
nshost = across
Feb 23, 2012 6:41:04 PM 
com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl <init>
WARNING: "IOP00410201: (COMM_FAILURE) Connection failure: socketType: 
IIOP_CLEAR_TEXT; hostname: localhost; port: 2809"
org.omg.CORBA.COMM_FAILURE:   vmcid: SUN  minor code: 201  completed: No
    at com.sun.corba.se.impl.logging.ORBUtilSystemException.connectFailure(ORBUtilSystemException.java:2200)
    at com.sun.corba.se.impl.logging.ORBUtilSystemException.connectFailure(ORBUtilSystemException.java:2221)
    at com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl.<init>(SocketOrChannelConnectionImpl.java:205)
    at com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl.<init>(SocketOrChannelConnectionImpl.java:218)
    at com.sun.corba.se.impl.transport.SocketOrChannelContactInfoImpl.createConnection(SocketOrChannelContactInfoImpl.java:101)
    at com.sun.corba.se.impl.protocol.CorbaClientRequestDispatcherImpl.beginRequest(CorbaClientRequestDispatcherImpl.java:152)
    at com.sun.corba.se.impl.protocol.CorbaClientDelegateImpl.request(CorbaClientDelegateImpl.java:118)
    at com.sun.corba.se.impl.protocol.CorbaClientDelegateImpl.is_a(CorbaClientDelegateImpl.java:211)
    at org.omg.CORBA.portable.ObjectImpl._is_a(ObjectImpl.java:112)
    at org.omg.CosNaming.NamingContextHelper.narrow(NamingContextHelper.java:69)
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
    at java.lang.reflect.Method.invoke(Method.java:597)
    at org.python.core.PyReflectedFunction.__call__(Unknown Source)
    at org.python.core.PyReflectedFunction.__call__(Unknown Source)
    at org.python.core.PyObject.__call__(Unknown Source)
    at org.python.core.PyObject.invoke(Unknown Source)
    at rtm$py.initCORBA$23(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py:280)
    at rtm$py.call_function(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyFunction.__call__(Unknown Source)
    at rtm$py.f$0(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py:681)
    at rtm$py.call_function(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyCode.call(Unknown Source)
    at org.python.core.imp.createFromCode(Unknown Source)
    at org.python.core.imp.createFromPyClass(Unknown Source)
    at org.python.core.imp.loadFromSource(Unknown Source)
    at org.python.core.imp.find_module(Unknown Source)
    at org.python.core.imp.import_next(Unknown Source)
    at org.python.core.imp.import_name(Unknown Source)
    at org.python.core.imp.importName(Unknown Source)
    at org.python.core.ImportFunction.load(Unknown Source)
    at org.python.core.ImportFunction.__call__(Unknown Source)
    at org.python.core.PyObject.__call__(Unknown Source)
    at org.python.core.__builtin__.__import__(Unknown Source)
    at org.python.core.imp.importOne(Unknown Source)
    at sample$py.f$0(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/./sample.py:7)
    at sample$py.call_function(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/./sample.py)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyCode.call(Unknown Source)
    at org.python.core.imp.createFromCode(Unknown Source)
    at org.python.core.imp.createFromPyClass(Unknown Source)
    at org.python.core.imp.loadFromSource(Unknown Source)
    at org.python.core.imp.find_module(Unknown Source)
    at org.python.core.imp.import_next(Unknown Source)
    at org.python.core.imp.import_name(Unknown Source)
    at org.python.core.imp.importName(Unknown Source)
    at org.python.core.ImportFunction.load(Unknown Source)
    at org.python.core.ImportFunction.__call__(Unknown Source)
    at org.python.core.PyObject.__call__(Unknown Source)
    at org.python.core.__builtin__.__import__(Unknown Source)
    at org.python.core.imp.importAll(Unknown Source)
    at guiinfo$py.f$0(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/./guiinfo.py:1)
    at guiinfo$py.call_function(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/./guiinfo.py)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyCode.call(Unknown Source)
    at org.python.core.imp.createFromCode(Unknown Source)
    at org.python.core.imp.createFromPyClass(Unknown Source)
    at org.python.core.imp.loadFromSource(Unknown Source)
    at org.python.core.imp.find_module(Unknown Source)
    at org.python.core.imp.import_next(Unknown Source)
    at org.python.core.imp.import_name(Unknown Source)
    at org.python.core.imp.importName(Unknown Source)
    at org.python.core.ImportFunction.load(Unknown Source)
    at org.python.core.ImportFunction.__call__(Unknown Source)
    at org.python.core.PyObject.__call__(Unknown Source)
    at org.python.core.__builtin__.__import__(Unknown Source)
    at org.python.core.imp.importAll(Unknown Source)
    at org.python.pycode._pyx0.f$0(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/gui.py:7)
    at org.python.pycode._pyx0.call_function(/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/gui.py)
    at org.python.core.PyTableCode.call(Unknown Source)
    at org.python.core.PyCode.call(Unknown Source)
    at org.python.core.Py.runCode(Unknown Source)
    at org.python.core.__builtin__.execfile_flags(Unknown Source)
    at org.python.util.PythonInterpreter.execfile(Unknown Source)
    at org.python.util.jython.main(Unknown Source)
Caused by: java.net.ConnectException: Connection refused
    at sun.nio.ch.Net.connect(Native Method)
    at sun.nio.ch.SocketChannelImpl.connect(SocketChannelImpl.java:500)
    at java.nio.channels.SocketChannel.open(SocketChannel.java:146)
    at com.sun.corba.se.impl.transport.DefaultSocketFactoryImpl.createSocket(DefaultSocketFactoryImpl.java:60)
    at com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl.<init>(SocketOrChannelConnectionImpl.java:188)
    ... 76 more
Traceback (innermost last):
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/gui.py", line 7, in ?
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/guiinfo.py", line 1, in ?
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/sample.py", line 7, in ?
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py", line 681, in ?
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py", line 280, in initCORBA
    at com.sun.corba.se.impl.logging.ORBUtilSystemException.connectFailure(ORBUtilSystemException.java:2200)
    at com.sun.corba.se.impl.logging.ORBUtilSystemException.connectFailure(ORBUtilSystemException.java:2221)
    at com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl.<init>(SocketOrChannelConnectionImpl.java:205)
    at com.sun.corba.se.impl.transport.SocketOrChannelConnectionImpl.<init>(SocketOrChannelConnectionImpl.java:218)
    at com.sun.corba.se.impl.transport.SocketOrChannelContactInfoImpl.createConnection(SocketOrChannelContactInfoImpl.java:101)
    at com.sun.corba.se.impl.protocol.CorbaClientRequestDispatcherImpl.beginRequest(CorbaClientRequestDispatcherImpl.java:152)
    at com.sun.corba.se.impl.protocol.CorbaClientDelegateImpl.request(CorbaClientDelegateImpl.java:118)
    at com.sun.corba.se.impl.protocol.CorbaClientDelegateImpl.is_a(CorbaClientDelegateImpl.java:211)
    at org.omg.CORBA.portable.ObjectImpl._is_a(ObjectImpl.java:112)
    at org.omg.CosNaming.NamingContextHelper.narrow(NamingContextHelper.java:69)
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
    at java.lang.reflect.Method.invoke(Method.java:597)

org.omg.CORBA.COMM_FAILURE: org.omg.CORBA.COMM_FAILURE:   vmcid: SUN  minor 
code: 201  completed: No

Original issue reported on code.google.com by uesna...@gmail.com on 23 Feb 2012 at 5:45

GoogleCodeExporter commented 9 years ago 
Hi,

That's strange, could you change gui.py as follows? also we'd like to check our 
hiro's workspace if there remain some diffs that is not commited yet.

=
#!/opt/grx/bin/hrpsyspy
import os
import time
from java.lang import System
from java.awt import *
from javax.swing import *
System.setProperty('NS_OPT', '-ORBInitRef 
NameService=corbaloc:iiop:hiro019:2809/NameService') ## added
from guiinfo import *

Original comment by kei.ok...@gmail.com on 24 Feb 2012 at 4:09

GoogleCodeExporter commented 9 years ago 
Hi,

This change helped. Now guy application starts but errors still happen:

Click on restart rtcd looks OK
reconnected
[restart rtcd] 2.818000078201294 [sec]

Clicking on setup rt-system -> generates errors

nshost = hiro019
reconnected
creating components
force =  None
connecting components
activating components
Exception in thread "AWT-EventQueue-0" Traceback (innermost last):
  File "<string>", line 1, in tmpfunc
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/gui.py", line 33, in setupRobot
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/sample.py", line 29, in init
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/sample.py", line 34, in activateComps
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/jython/rtm.py", line 369, in serializeComponents
AttributeError: 'NoneType' object has no attribute 'ec'

Original comment by uesna...@gmail.com on 24 Feb 2012 at 3:19

GoogleCodeExporter commented 9 years ago 
Hi,

You don't have force sensors on your robot, right?
So we have to change following codes at createComps function in gui/sample.py

    # added force sensor RTC load - 2011/10/24
    force = initRTC("ForceSensor", "force")
    print "force = ", force

    #return [rh, seq, armR, armL, sa, grsp, log, force]  ### changed
    return [rh, seq, armR, armL, sa, grsp, log]  ### changed

if it is lisp you can write as ;-)
  return (remove nil (list rh seq armr arml sa grsp log force))

Original comment by kei.ok...@gmail.com on 27 Feb 2012 at 4:22

GoogleCodeExporter commented 9 years ago 
Hi,

I have been travelling and could not try the solution until today. Clicking on 
setup rt-system works OK now, thanks. But I have the following error when I 
click on calibrateJoint:

calibrateing joints ...Exception in thread "AWT-EventQueue-0" Traceback 
(innermost last):
  File "<string>", line 1, in tmpfunc
  File "/home/across/rosstacks/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/hironx_ros_bridge/gui/sample.py", line 166, in calibrateJoint
AttributeError: calibrateJoint

Original comment by uesna...@gmail.com on 5 Mar 2012 at 5:31

GoogleCodeExporter commented 9 years ago 
Hi

I suppose this is because of RobotHardwareService.idl for HIRONX differs from 
hrpsys-common.
If this is true, currently we need to run JointCalib.sh under 
/opt/grx/..../HIRONX/bin in the hiro computer. To double check, we'd better to 
wait for grx's commont on this issue.

Merging RobotHardwareService.idl is not so difficult. Here is an idea:
- uncomment  setServoErroLimit, addJointGroup from HIRONX's 
RobotHardwareService.idl
- add calibrateInternalSensors in HIRONX or rename calibrateInternalSensor -> 
calibrateSensor in hrpsys-base
- add engageProtectiveStop, disengageProtectiveStop in hrpsys-base or add new 
status servoState
- add getJointPartNames or getJointNameInPart to hrpsys-base or use 
addJointGroup, (getJointGroup ?)

How do you think? > saito-san

If you already have feedback from saito-san directly since I forward this issue 
to him the day before yesterday, please ignore my e-mail.

Original comment by kei.ok...@gmail.com on 7 Mar 2012 at 2:15

GoogleCodeExporter commented 9 years ago 
Hi

I suppose this is because of RobotHardwareService.idl for HIRONX differs from 
hrpsys-common.
If this is true, currently we need to run JointCalib.sh under 
/opt/grx/..../HIRONX/bin in the hiro computer. To double check, we'd better to 
wait for grx's commont on this issue.

Merging RobotHardwareService.idl is not so difficult. Here is an idea:
- uncomment  setServoErroLimit, addJointGroup from HIRONX's 
RobotHardwareService.idl
- add calibrateInternalSensors in HIRONX or rename calibrateInternalSensor -> 
calibrateSensor in hrpsys-base
- add engageProtectiveStop, disengageProtectiveStop in hrpsys-base or add new 
status servoState
- add getJointPartNames or getJointNameInPart to hrpsys-base or use 
addJointGroup, (getJointGroup ?)

How do you think? > saito-san

If you already have feedback from saito-san directly since I forward this issue 
to him the day before yesterday, please ignore my e-mail.

Original comment by kei.ok...@gmail.com on 7 Mar 2012 at 2:15

GoogleCodeExporter commented 9 years ago 
Hello,

To be honest, I didn't have time to check this out today. I'm hoping to have 
time around 16:00 tomorrow.

Commenting functionality out of an IDL file that requires it will probably 
cause problems later. Adding these functions to the free version and providing 
methods that return "not implemented" when called would probably cause less 
problems.

Best regards,

Hajime

Original comment by emijah.s on 7 Mar 2012 at 2:24

GoogleCodeExporter commented 9 years ago

Original comment by kei.ok...@gmail.com on 21 Jul 2013 at 8:13

GoogleCodeExporter commented 9 years ago 
Closing due to less activity according to the request #227. Feel free to reopen 
if necessary with updated information.

Original comment by gm130s on 11 Oct 2013 at 4:16