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jsk-ros-pkg / jsk_control

jsk control ros packages
http://github.com/jsk-ros-pkg/jsk_control
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jsk_footstep_plannerでマーカーを動かすと死ぬ #689

Closed mttamtam closed 6 years ago

mttamtam commented 6 years ago

@YoheiKakiuchi

rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch LOAD_OBJECTS:=true ENVIRONMENT_YAML:=$(rospack find hrpsys_choreonoid_tutorials)/config/terrain.yaml roslaunch hrpsys_choreonoid_tutorials jaxon_multisense_local.launch を上げた状態で、 下記のようにフットステッププランナを立ち上げ、ゴール位置のマーカーを動かそうとするとその瞬間にrvizが死にます。

tamura@aconcagua:~/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner (master)$ roslaunch jsk_footstep_planner JAXON_RED_footstep_planner_perception.launch ... logging to /home/tamura/.ros/log/f76d7c64-b8b8-11e7-85d3-bc5ff4ea565e/roslaunch-aconcagua-20301.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://aconcagua:43194/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / footstep_marker (jsk_footstep_planner/footstep_marker) footstep_planner (jsk_footstep_planner/footstep_planner_node) go_pos_server (roseus/roseus) jaxon_footstep_controller (jsk_footstep_controller/jaxon-footstep-controller.l) joy_driver (joy/joy_node) joy_manager (jsk_teleop_joy/joy.py) laser_origin_cloud (jsk_pcl_ros/tf_transform_cloud) octomap_server (octomap_server/octomap_server_node) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[laser_origin_cloud-1]: started with pid [20336] process[octomap_server-2]: started with pid [20412] process[footstep_planner-3]: started with pid [20413] process[footstep_marker-4]: started with pid [20414] process[jaxon_footstep_controller-5]: started with pid [20420] process[joy_driver-6]: started with pid [20442] process[joy_manager-7]: started with pid [20458] process[go_pos_server-8]: started with pid [20502] [ERROR] [1508849280.391697484]: Couldn't open joystick /dev/input/js0. Will retry every second. process[rviz-9]: started with pid [20514] configuring by "/home/tamura/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l" ;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin connected to Xserver DISPLAY=:0 configuring by "/home/tamura/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l" ;; readmacro ;; object ;; packsym ;; common X events are being asynchronously monitored. ;; constants ;; pixword ;; RGBHLS ;; convolve ;; piximage ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; pbmfile ;; image_correlation ;; oglforeign ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; gldecl ;; history ;; toplevel ;; glconst ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; glforeign ;; gluconst ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; viewsurface ;; glprim ;; gleus ;; glview ;; hid ;; shadow ;; toiv-undefined ;; fstringdouble ;; bodyrel ;; dda irtmath irtutil ;; helpsub ;; eushelp ;; xforeign ;; Xdecl irtc irtgeoc irtgraph ;; Xgraphics ;; Xcolor ;; Xeus pgsql ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop irtgeo ;; Xapplwin euspqp pqp irtscene irtmodel connected to Xserver DISPLAY=:0 irtdyna X events are being asynchronously monitored. ;; pixword ;; RGBHLS ;; convolve ;; piximage irtrobot irtsensor irtbvh ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl irtcollada irtpointcloud ;; glconst irtx eusjpeg euspng png irtimage irtglrgb ;; extending gcstack 0x56a1ad0[16374] --> 0x5b00810[32748] top=3d44 ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgl irtgeo euspqp pqp irtscene irtmodel irtglc irtviewer EusLisp 9.22(821db23 1.0.12) for Linux64 created on aconcagua(Fri Sep 22 22:26:54 JST 2017) irtdyna irtrobot irtsensor irtbvh roseus irtcollada ;; loading roseus("1.6.2-2-g7a769a4") on euslisp((9.22 aconcagua Fri Sep 22 22:26:54 JST 2017 821db23 1.0.12)) [ INFO] [1508849280.725934743]: install ros::roseus-sigint-handler irtpointcloud eustf irtx eusjpeg euspng png irtimage irtglrgb ;; extending gcstack 0x57b6ad0[16374] --> 0x5c15810[32748] top=3d44 irtgl irtglc irtviewer EusLisp 9.22(821db23 1.0.12) for Linux64 created on aconcagua(Fri Sep 22 22:26:54 JST 2017) roseus ;; loading roseus("1.6.2-2-g7a769a4") on euslisp((9.22 aconcagua Fri Sep 22 22:26:54 JST 2017 821db23 1.0.12)) [ INFO] [1508849280.778038151]: install ros::roseus-sigint-handler eustf roseus_c_util roseus_c_util [ INFO] [1508849281.068950614, 62.667000000]: 24 successors are defined [ INFO] [1508849281.069014638, 62.667000000]: default_offset: #f(0.000000 -0.200000 0.000000) [ INFO] [1508849281.069032135, 62.667000000]: left_leg_offset: #f(0.015000 0.000000 0.000000) [ INFO] [1508849281.069044041, 62.667000000]: right_leg_offset: #f(0.015000 0.000000 0.000000)

[ INFO] [1508849281.069233560, 62.667000000]: building graph [ INFO] [1508849281.069292664, 62.667000000]: build graph done [ INFO] [1508849281.085201686, 62.668000000]: waiting for /footstep_planner/collision_bounding_box_info [ INFO] [1508849281.195138878, 62.683000000]: reset marker [ INFO] [1508849282.336336545, 62.885000000]: initialization done /home/tamura/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/src/jsk_teleop_joy/joy.py:78: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.menu_pub = rospy.Publisher("/overlay_menu", OverlayMenu)

;; extending gcstack 0x5b00810[32738] --> 0x68753f0[65476] top=7e23

;; extending gcstack 0x5c15810[32738] --> 0x65ee8a0[65476] top=7da7 [ERROR] [1508849285.357877570]: unknown ros::param::get, key=~/replanning_translation_threshold [ INFO] [1508849290.195763432, 64.614000000]: GoPos Server is ready as /go_pos_server [ WARN] [1508849308.181621766, 70.649000000]: Waiting for actionlib interface forever because controler-timeout is nil ";; Add controllers" [ WARN] [1508849308.853719149, 70.883000000]: Waiting for actionlib interface forever because controler-timeout is nil [ WARN] [1508849309.109995310, 70.989000000]: Waiting for actionlib interface forever because controler-timeout is nil [ WARN] [1508849309.419644414, 71.099000000]: Waiting for actionlib interface forever because controler-timeout is nil [ WARN] [1508849309.730787284, 71.205000000]: Waiting for actionlib interface forever because controler-timeout is nil [ WARN] [1508849310.008544057, 71.311000000]: Waiting for actionlib interface forever because controler-timeout is nil [ WARN] [1508849310.324475710, 71.415000000]: Waiting for actionlib interface forever because controler-timeout is nil ";; Add hands" [ WARN] [1508849310.861015899, 71.619000000]: ROSEUS is already installed as /jaxon_footstep_controller [ WARN] [1508849319.027877012, 74.749000000]: [/thk_hand_right] action server is not found [ WARN] [1508849319.027951495, 74.749000000]: goal=0, cancel=0, feedback=0, result=0 [ WARN] [1508849319.028024595, 74.749000000]: #<ros::simple-action-client #X11bd1bf8 /thk_hand_right> is not respond, pr2-interface is disabled [ WARN] [1508849319.028062092, 74.749000000]: #<ros::simple-action-client #X11bcfdc8 /thk_hand_left> is not respond, pr2-interface is disabled [ WARN] [1508849319.280046843, 74.830000000]: ROSEUS is already installed as /jaxon_footstep_controller [ INFO] [1508849324.929754962, 76.619000000]: simple footstep controller is ready as /jaxon_footstep_controller

[ INFO] [1508849357.002120771, 89.037000000]: start planning

[ INFO] [1508849357.005400394, 89.042000000]: start_solver timeout: 10.000000 [ INFO] [1508849357.005606761, 89.042000000]: Took 0.000080 sec Perception took 0.000000 sec Planning took 0.000080 sec 1 path open list: 0 close list:0 [ INFO] [1508849357.005649258, 89.042000000]: use_obstacle_model: 1 Qt has caught an exception thrown from an event handler. Throwing exceptions from an event handler is not supported in Qt. You must reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'Ogre::Exception' what(): OGRE EXCEPTION(5:): Could not find font Arial in MovableText::setFontName [ WARN] [1508849357.099110094, 89.067000000]: [footstep_planner] action-result-cb may recieved old client's goal [ WARN] [1508849357.099157438, 89.067000000]: expected goal id nil [ WARN] [1508849357.099180764, 89.067000000]: recieved goal id /footstep_marker-3-89.42000000 [rviz-9] process has died [pid 20514, exit code -6, cmd /opt/ros/indigo/lib/rviz/rviz -d /home/tamura/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner/config/jaxon_footstep_planner_perception.rviz name:=rviz log:=/home/tamura/.ros/log/f76d7c64-b8b8-11e7-85d3-bc5ff4ea565e/rviz-9.log]. log file: /home/tamura/.ros/log/f76d7c64-b8b8-11e7-85d3-bc5ff4ea565e/rviz-9*.log

k-okada commented 6 years ago

使っているjsk_rviz_plugins のバージョンはなんですか？ https://github.com/jsk-ros-pkg/jsk_visualization/pull/676 かな，とおもいました．

mttamtam commented 6 years ago

遅くなりすいません。 岡田先生のご指摘のとおりで、

tamura@aconcagua:~/ros/indigo/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins (master)$ git log
commit 30ee668e47af175057548041802d9846c65918c9
Merge: a1a5ab2 997c218
Author: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date:   Wed Oct 12 01:39:16 2016 +0900

    Merge pull request #643 from mmurooka/empty-service-panel-unused-varialbe

    [jsk_rviz_plugins/src/empty_service_call_interface.cpp ] remove unused variables.

だったのでjsk_rviz_pluginsが１年前ぐらいだったのを最新版にしたら問題なく動きました。 ありがとうございました。

k-okada commented 6 years ago

良かったです． 手元にソースツリー持つとこういうことがおこって，じゃあ常にwstool updateしたらいいかというと，regressionも心配だし，ということで，自分でいじることがなければdebを使っておくのがいいですね． ということで，リリースしました．週明けには使えると思います． https://github.com/ros/rosdistro/pull/16173

-- ◉ Kei Okada

2017-10-26 20:01 GMT+09:00 Juntaro Tamura notifications@github.com:

遅くなりすいません。 岡田先生のご指摘のとおりで、

tamura@aconcagua:~/ros/indigo/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins (master)$ git log commit 30ee668e47af175057548041802d9846c65918c9 Merge: a1a5ab2 997c218 Author: Kei Okada k-okada@jsk.t.u-tokyo.ac.jp Date: Wed Oct 12 01:39:16 2016 +0900

Merge pull request #643 from mmurooka/empty-service-panel-unused-varialbe

[jsk_rviz_plugins/src/empty_service_call_interface.cpp ] remove unused variables.

だったのでjsk_rviz_pluginsが１年前ぐらいだったのを最新版にしたら問題なく動きました。 ありがとうございました。

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