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hsnuhayato / rtm-ros-robotics

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[hrpsys.py] waiting ModelLoader #209

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
I copyed the files of the controller at /opt/jsk in hiro qnx and also 
/opt/hiro/lib as indicated the last day at jsk. When I try to start the 
controller I get the followinig

rosrun hironx_ros_bridge hironx.py RobotHardware0  
/opt/jsk/etc/HIRONX/model/main_dof15.wrl -- -ORBInitRef 
NameService=corbaloc:iiop:hiro:15005/NameService
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  wait for ModelLoader
[hrpsys.py]  wait for ModelLoader

I also tried to update the controller using the script 
./robot-compile-hrpsys.sh

I get the follwing error then:

execute compile command @ hiro (y/n)?y
kwduser@hiro's password: 
sh: .: /home/kwduser/.profile: No such file or directory
Connection to hiro closed.

Original issue reported on code.google.com by uesna...@gmail.com on 19 Sep 2013 at 8:13

GoogleCodeExporter commented 9 years ago 
Are you using hironx_ros_bridge provided from deb files? if so argument for 
hironx.py has changed, please check last line of hironx.py

sh: .: /home/kwduser/.profile: No such file or directory
do you have kwduser in hiro robot? you dont have hiro user?
if you use kwduser, please send us ls -al /home/kwduser also following 
information is requried.
ssh hiro ls -al
ssh hiro env

Original comment by kei.ok...@gmail.com on 19 Sep 2013 at 8:23

GoogleCodeExporter commented 9 years ago 
If I try to restart the controller manually using the command in 
reatart_controller.sh

I get the following error

slay -9 rtcd
slay: Unable to find process 'rtcd'

Original comment by uesna...@gmail.com on 19 Sep 2013 at 8:59

GoogleCodeExporter commented 9 years ago 
I am using the last compiled version of rosbuild.

the user in the new robots is kwduser now.

ls -al
drwxrwxr-x  2 kwduser   users          1024 Sep 19 16:43 .
drwxrwxr-x  3 root      root           1024 Aug 27 13:09 ..
-rw-rw-r--  1 kwduser   users            51 Sep 19 16:52 .lastlogin

env
 env 
_=/usr/bin/env
SSH_CONNECTION=10.254.19.4 42237 10.254.19.11 22
PATH=/usr/bin:/bin:/usr/sbin:/sbin:/usr/local/bin:/opt/bin
SHELL=/bin/sh
HOSTNAME=hiro
USER=kwduser
TMPDIR=/tmp
MAIL=/var/spool/mail/kwduser
PROCESSOR=x86
HOME=/home/kwduser
SSH_CLIENT=10.254.19.4 42237 22
QNX_HOST=/
QNX_TARGET=/
TERM=xterm
QNX_CONFIGURATION=/etc/qnx
SSH_TTY=/dev/ttyp0
SYSNAME=nto
LOGNAME=kwduser

Original comment by uesna...@gmail.com on 19 Sep 2013 at 9:24

GoogleCodeExporter commented 9 years ago 
some more  information. I tried to start modelloader.sh directly from qnx 
machine

./ModelLoader.sh
slay: Unable to find process 'openhrp-model-loader'

openhrp-model-loader exists in bin if I execute:
# ./openhrp-model-loader 
ldd:FATAL: Could not load library libboost_filesystem.so

we don't have this library libboost_filesystem.so

Original comment by uesna...@gmail.com on 19 Sep 2013 at 9:44

GoogleCodeExporter commented 9 years ago 
I tried to do the robot-compile-hrpsys.sh step by step in the qnx machine. 
There ae many things missing:

1)
PKG_CONFIG_PATH=/opt/jsk/lib/pkgconfig:/usr/pkg/lib/pkgconfig CXX=QCC CC=qcc 
TVMET_DIR=/opt/jsk OPENRTM_IDL_DIR=/opt/jsk/include/OpenRTM-1.1/rtm/idl 
LDFLAGS=\"-L/usr/pkg/lib -lboost_system -lboost_signals -lboost_thread 
-lboost_filesystem\" cmake . -DLAPACK_LIBRARY_DIRS=/opt/jsk/lib 
-DLAPACK_INCLUDE_DIRS=/opt/jsk/include -DOPENRTM_DIR=/opt/jsk 
-DOPT_COLLADASUPPORT=NO -DEIGEN_INCLUDE_DIR=/opt/jsk/include 
-DCOMPILE_JAVA_STUFF=OFF -DCMAKE_SHARED_LINKER_FLAGS=\"-L/usr/pkg/lib 
-lboost_system -lboost_signals -lboost_filesystem -lboost_thread -lboost_regex 
-lf2c -Wl,-u,MAIN__\" -DCMAKE_EXE_LINKER_FLAGS=\"-L/usr/pkg/lib -lboost_system 
-lboost_signals -lboost_thread -lboost_filesystem -lboost_regex -lf2c 
-Wl,-u,MAIN__\" -DCMAKE_MODULE_LINKER_FLAGS=\"-L/usr/pkg/lib -lboost_system 
-lboost_signals -lboost_filesystem -lboost_thread -lboost_regex -lf2c 
-Wl,-u,MAIN__\" -DCMAKE_INSTALL_PREFIX=/opt/jsk 
-DBLAS_LIBRARY=/opt/jsk/lib/libblas.so 
-DLAPACK_LIBRARY=/opt/jsk/lib/liblapack.so -DG2C_LIBRARY=/opt/jsk/lib/libf2c.so 
-DCMAKE_CXX_FLAGS=\"-I/usr/pkg/include\" -DCMAKE_INSTALL_PREFIX=/opt/jsk 
-DENABLE_DOXYGEN=OFF ;

-lboost_system: command not found

If I make 
make
make: *** No targets specified and no makefile found.  Stop.

If I use cmake . to create the makefile

cmake .
...
CMake Error at cmake_modules/FindOpenRTM.cmake:133 (message):
  OpenRTM-aist required, please specify it's location.
Call Stack (most recent call first):
  CMakeLists.txt:35 (find_package)

Original comment by uesna...@gmail.com on 19 Sep 2013 at 2:49

GoogleCodeExporter commented 9 years ago 
it seems your qnx/kwduser is not setuped for software development,
please login into qnx machine and check if you have dev environmnet

$ ls /usr/qnx650/host/qnx6/x86/usr/bin/gcc
/usr/qnx650/host/qnx6/x86/usr/bin/gcc

$ which gcc
/usr/qnx650/host/qnx6/x86/usr/bin/gcc

$ env | grep PATH
PATH=/usr/pkg/bin:/usr/pkg/sbin:/usr/bin:/bin:/usr/sbin:/sbin:/usr/local/bin:/op
t/bin:/usr/qnx650/host/qnx6/x86/usr/bin:/usr/qnx650/host/qnx6/x86/usr/sbin:/usr/
qnx650/host/qnx6/x86/sbin:/usr/qnx650/host/qnx6/x86/bin:/usr/qnx650/host/qnx6/x8
6/usr/photon/appbuilder:/usr/local/bin:/opt/bin:/usr/qnx650/host/qnx6/x86/usr/bi
n:/usr/qnx650/host/qnx6/x86/usr/sbin:/usr/qnx650/host/qnx6/x86/sbin:/usr/qnx650/
host/qnx6/x86/bin:/usr/qnx650/host/qnx6/x86/usr/photon/appbuilder

Original comment by kei.ok...@gmail.com on 20 Sep 2013 at 3:17

GoogleCodeExporter commented 9 years ago 
I confirm that our qnx machine is not set up for development. Is there any 
other way to make the controller work?

Original comment by uesna...@gmail.com on 20 Sep 2013 at 4:02

GoogleCodeExporter commented 9 years ago 
Humm, that's not what I expected, may be your HIRO robot did not prepared as 
you wish. Did you ask Kawada to fix this problem? (I think it very important to 
Cc their management team when you ask team)

Original comment by kei.ok...@gmail.com on 21 Sep 2013 at 5:38

GoogleCodeExporter commented 9 years ago 
Sorry for getting on board late.

Okada-sensei,

I'm not quite sure what's happening, but it seems to me that Urko included 2 
different problems in his original statement. Isn't it worth separating them? 
I've already done for the first part of the original issue as issue 212 (please 
close 212 if you think two issues are related. And I agree that if the issue is 
related to licensing or the robot's original setting, Urko should contact the 
seller anyway).

Original comment by gm130s on 21 Sep 2013 at 8:02

GoogleCodeExporter commented 9 years ago 
Yes it might be. One thing we should check is to see if model loader and rtcd 
is running after reboot. rtshell tools will help them. Can you create any 
instruction? first check if the process is running on qnx the check if it is 
accessable from corba process, i.e. sourcing rtshell-setup.sh and rtls will ok. 
One possibily is there are some confusion on corba port since we changed from 
2809 -> 5005 -> 15005 within last month. But it's very hard to figure out the 
problem since we have no knowledge on configuration shipped to Tecnallia, 
specially what's happens to hiro user account and what is kwduser???

As for trouble shoot
export RTCTREE_NAMESERVERS=localhost:5005 <--- 15005???
is necessary for usin rtshell tools manually, but

export ORBInitRef="NameService=corbaloc:iiop:localhost:15005/NameService"

is no longer required , if you used recent version( i suppose it is not 
released as deb yet) due to

http://code.google.com/p/rtm-ros-robotics/issues/detail?id=195

One thing to note is we also updated hrpsys-base for issue 195, so you need to 
make download in hrpsys package to update hrpsys-base software.

Original comment by kei.ok...@gmail.com on 21 Sep 2013 at 8:31

GoogleCodeExporter commented 9 years ago 
Thanks forthe answers.  Ill check with rtls on Monday and let you know. The 
robot works with the open source controller version we installed in kawada. So 
i guess exports should be ok but I'll check. 

About qnx license we did not ask for development license thinking that we would 
not need it. We did not need it in hiro 1.i have already asked kawada how can 
we update to development license now. 

So my question is: not having the license males impossible to update the 
controller?

Original comment by uesna...@gmail.com on 21 Sep 2013 at 9:20

GoogleCodeExporter commented 9 years ago 

> So my question is: not having the license males impossible to update the 
controller?

Currently No,

I'll file a ticket for this request, but couldn't sure when we can develop them 
since our hiro support is still voluntarily basis so takes time to check if we 
can update controllers without license , and still not clear if Kawada allow us 
to include us for support team. From my quick thought, we must deliver 
controller binary that includes Kawada's property.

Original comment by kei.ok...@gmail.com on 21 Sep 2013 at 9:59

GoogleCodeExporter commented 9 years ago 
Closing due to the lack of update about the originally reported issue and the 
focus of the subject being diverged to proprietary/business issue.

Original comment by gm130s on 28 Jan 2014 at 5:10