search

hsnuhayato / rtm-ros-robotics

Automatically exported from code.google.com/p/rtm-ros-robotics
0 stars 0 forks source link

(.deb only) ERROR: cannot launch node of type [hrpsys/hrpsys-simulator] #206

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
uesnaola and I are seeing the same issue on each machine.

    $ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
    :
    ERROR: cannot launch node of type [hrpsys/hrpsys-simulator]: can't locate node [hrpsys-simulator] in package [hrpsys]
    :
    [hrpsys.py]  wait for RTCmanager :  130s-serval
    :
    (keeps missing RTCmanager)

Longer log. 

    $ rospack find hironx_ros_bridge 
    /opt/ros/groovy/share/hironx_ros_bridge
    $dpkg -p ros-groovy-hironx-ros-bridge
    :
    Version: 1.0.0-4precise-20130913-1752-+0000
    $ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
    [rtmlaunch] Start omniNames at port 15005 

    Tue Sep 17 00:17:02 2013:

    Starting omniNames for the first time.
    Wrote initial log file.
    Read log file successfully.
    Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e312e313800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000ee20375201003fb2
    Checkpointing Phase 1: Prepare.
    Checkpointing Phase 2: Commit.
    Checkpointing completed.
    ... logging to /home/n130s/.ros/log/09d63536-1ee3-11e3-9029-0090f5bd194f/roslaunch-130s-serval-16300.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://130s-serval:55355/

    SUMMARY
    ========

    PARAMETERS
     * /controller_configuration
     * /diagnostic_aggregator/analyzers/computers/contains
     * /diagnostic_aggregator/analyzers/computers/path
     * /diagnostic_aggregator/analyzers/computers/type
     * /diagnostic_aggregator/analyzers/hrpsys/contains
     * /diagnostic_aggregator/analyzers/hrpsys/path
     * /diagnostic_aggregator/analyzers/hrpsys/type
     * /diagnostic_aggregator/analyzers/mode/contains
     * /diagnostic_aggregator/analyzers/mode/path
     * /diagnostic_aggregator/analyzers/mode/type
     * /diagnostic_aggregator/analyzers/motor/contains
     * /diagnostic_aggregator/analyzers/motor/path
     * /diagnostic_aggregator/analyzers/motor/type
     * /diagnostic_aggregator/base_path
     * /diagnostic_aggregator/pub_rate
     * /robot_description
     * /rosdistro
     * /rosversion
     * /use_sim_time

    NODES
      /
        DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
        ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
        HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
        HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
        SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
        StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
        diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
        hrpsys (hrpsys/hrpsys-simulator)
        hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
        hrpsys_py (hironx_ros_bridge/hironx.py)
        hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
        hrpsys_state_publisher (robot_state_publisher/state_publisher)
        modelloader (openhrp3/openhrp-model-loader)
        rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
        sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtconnect
    WARNING: unrecognized tag rtactivate
    WARNING: unrecognized tag rtactivate
    WARNING: unrecognized tag rtactivate
    WARNING: unrecognized tag rtactivate
    WARNING: unrecognized tag rtactivate
    WARNING: unrecognized tag rtactivate
    auto-starting new master
    process[master]: started with pid [16319]
    ROS_MASTER_URI=http://localhost:11311

    setting /run_id to 09d63536-1ee3-11e3-9029-0090f5bd194f
    process[rosout-1]: started with pid [16332]
    started core service [/rosout]
    process[modelloader-2]: started with pid [16344]
    ready
    ERROR: cannot launch node of type [hrpsys/hrpsys-simulator]: can't locate node [hrpsys-simulator] in package [hrpsys]
    process[hrpsys_py-4]: started with pid [16349]
    process[HrpsysSeqStateROSBridge-5]: started with pid [16350]
    process[HrpsysJointTrajectoryBridge-6]: started with pid [16379]
    loading /opt/ros/groovy/share/hironx_ros_bridge/models/kawada-hironx.dae
    process[hrpsys_state_publisher-7]: started with pid [16400]
    Collada Warning: fill asset info
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    process[hrpsys_ros_diagnostics-8]: started with pid [16421]
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    Collada Warning: generate normals from vertices
    [hrpsys.py]  waiting ModelLoader
    [hrpsys.py]  start hrpsys
    [hrpsys.py]  finding RTCManager and RobotHardware
    The model was successfully loaded ! 
    Warning: Model HiroNX has empty joint ID in the valid IDs.
    cache found for /opt/ros/groovy/share/hironx_ros_bridge/models/kawada-hironx.dae
    Warning: Model HiroNX has empty joint ID in the valid IDs.
    [ INFO] [1379344624.113479802]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
    process[hrpsys_profile-9]: started with pid [16426]
    [ WARN] [1379344624.310957163]: [HrpsysSeqStateROSBridge] use_hrpsys_time
    process[diagnostic_aggregator-10]: started with pid [16429]
    [ INFO] [1379344624.332123638]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
    cache found for /opt/ros/groovy/share/hironx_ros_bridge/models/kawada-hironx.dae
    Warning: Model HiroNX has empty joint ID in the valid IDs.
    cache found for /opt/ros/groovy/share/hironx_ros_bridge/models/kawada-hironx.dae
    Warning: Model HiroNX has empty joint ID in the valid IDs.
    [ INFO] [1379344624.342499002]: [HrpsysSeqStateROSBridge] Loaded HiroNX
    [ INFO] [1379344624.342724309]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
    process[sensor_ros_bridge_connect-11]: started with pid [16486]
    process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [16530]
    process[SequencePlayerServiceROSBridge-13]: started with pid [16552]
    process[DataLoggerServiceROSBridge-14]: started with pid [16605]
    [sensor_ros_bridge_connect.py]  start
    [rtmlaunch] starting...  /opt/ros/groovy/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
    [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
    [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
    [rtmlaunch] check connection/activation
    [rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   0 /30
    process[ForwardKinematicsServiceROSBridge-15]: started with pid [16646]
    process[StateHolderServiceROSBridge-16]: started with pid [16672]
    Manager not found
    [hrpsys.py]  wait for RTCmanager :  130s-serval
    Manager not found
    [sensor_ros_bridge_connect.py]  wait for RTCmanager :  130s-serval
    [rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   1 /30
    Manager not found
    [hrpsys.py]  wait for RTCmanager :  130s-serval
    Manager not found
    [sensor_ros_bridge_connect.py]  wait for RTCmanager :  130s-serval
    [rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   2 /30
    Manager not found
    [hrpsys.py]  wait for RTCmanager :  130s-serval
    Manager not found
    [sensor_ros_bridge_connect.py]  wait for RTCmanager :  130s-serval
    [rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   3 /30
    Manager not found
    [hrpsys.py]  wait for RTCmanager :  130s-serval
    ^C[StateHolderServiceROSBridge-16] killing on exit
    [ForwardKinematicsServiceROSBridge-15] killing on exit

Original issue reported on code.google.com by gm130s on 16 Sep 2013 at 3:22

GoogleCodeExporter commented 9 years ago 
can you check if hrpsys-simulator is installed under /opt/ros/groovy? and which 
directory?

Original comment by kei.ok...@gmail.com on 17 Sep 2013 at 6:11

GoogleCodeExporter commented 9 years ago 
the reason is glut is not installed 
(http://jenkins.willowgarage.com:8080/job/ros-groovy-hrpsys_binarydeb_quantal_am
d64/12/consoleText) as follows
-- Found X11: /usr/lib/x86_64-linux-gnu/libX11.so
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so  
-- Could NOT find GLUT (missing:  GLUT_glut_LIBRARY GLUT_INCLUDE_DIR) 
-- checking for module 'opencv'
--   found opencv, version 2.4.6.1

and CMakeLists.txt set USE_HRPSYSUTIL only if GLUT and other libraries are 
found,

if(OpenCV_FOUND AND OPENGL_FOUND AND GLEW_FOUND AND GLUT_FOUND AND SDL_FOUND)
  set(USE_HRPSYSUTIL true)
else()
  set(USE_HRPSYSUTIL false)
endif()

and util/CMakeLists.txt checks USE_HRPSYSUTIL to add subdirectories.

if(USE_HRPSYSUTIL)
  add_subdirectory(simulator)
  add_subdirectory(viewer)
  add_subdirectory(monitor)
endif()

so, I added glut to build/run depends. see r5567

Original comment by kei.ok...@gmail.com on 17 Sep 2013 at 1:34

GoogleCodeExporter commented 9 years ago 
releasead -> https://github.com/ros/rosdistro/pull/2143

Original comment by kei.ok...@gmail.com on 17 Sep 2013 at 1:36

GoogleCodeExporter commented 9 years ago 
pleaes try with new versoin --> 
http://50.28.27.175/repos/building/pool/main/r/ros-groovy-hrpsys/ros-groovy-hrps
ys_0.0.1-8precise-20130918-0334-+0000_amd64.deb

Original comment by kei.ok...@gmail.com on 18 Sep 2013 at 4:16

GoogleCodeExporter commented 9 years ago 
This particular issue is gone with 
ros-groovy-hrpsys_0.0.1-8precise-20130918-0334-+0000. Thank you!

# Does the description above mean that buildfarm failed to detect a missing 
library and passed the build? Looks so hard to find the root cause of this 
error...

Original comment by gm130s on 18 Sep 2013 at 7:22

GoogleCodeExporter commented 9 years ago 
hrpsys is designed to build without opencv/glut/etc for embedded environment. 
For example, QNX does not compile hrpsys-simulator because it is not required 
for running real robot. So compilation on buildfirm confused that it is 
configured for embedded system due to lack of glut.

Original comment by kei.ok...@gmail.com on 18 Sep 2013 at 7:29