pepper実機の関節角を動かそうとするとシミュレータが立ち上がる

kochigami commented 9 years ago

デモ前日に、ペッパーのパソコンのパッケージをアップデートしてしまい、この現象が起こりました。

roscd peppereus
roseus pepper-interface.l
pepper-init

の後、

;; extending gcstack 0x6728290[32738] --> 0x7c93980[65476] top=7fe1
[ WARN] [1433162659.695376752]: [joint_trajectory] action server is not found
[ WARN] [1433162659.695472650]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [1433162659.695530702]: #<controller-action-client #X735f5c8 joint_tra\
jectory> is not respond, pepper-interface is disabled

という警告文が出てシミュレータが立ち上がります。 joint_trajectoryがあるべき場所を探します。

kochigami commented 9 years ago

rosrun roseus generate-all-msg-srv.sh --all

をして、

 [naoqi_joint_states.py] create dummy effort (error) from sensord joint angle and desired joint angle #37

がまだマージされていないので、書き足してみたけれど結果は変わりませんでした。

k-okada commented 9 years ago

rostopic info /joint_trajectory/status

してみて下さい．これが出ていないとダメです．なにか立ち上げ忘れている気がします．

また，

rostopic list

してみて下さい．

◉ Kei Okada

On Mon, Jun 1, 2015 at 10:34 PM, Kanae Kochigami notifications@github.com wrote:

rosrun roseus generate-all-msg-srv.sh --all

をして、

[naoqi_joint_states.py] create dummy effort (error) from sensord joint angle and desired joint angle #37

がまだマージされていないので、書き足してみたけれど結果は変わりませんでした。

— Reply to this email directly or view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/issues/341#issuecomment-107472082 .

kochigami commented 9 years ago

ご教示ありがとうございます。

Type: actionlib_msgs/GoalStatusArray

Publishers: None

Subscribers: 
 * /pepper_1433170081822103285 (http://192.168.97.25:48247/)

となりました。 nao_pose/launch/pose_manager.launch がpepper_robot/peppr_bringup/launch/pepper.launch に足りないことが原因でした。ありがとうございました。

k-okada commented 9 years ago

上手くいったかな？動いているときの rosnode list rostopic list をメモってくれるとうれしいです

2015年6月1日月曜日、Kanae Kochigaminotifications@github.comさんは書きました:

Closed #341 https://github.com/jsk-ros-pkg/jsk_robot/issues/341.

— Reply to this email directly or view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/issues/341#event-318998048.

◉ Kei Okada

kochigami commented 9 years ago

roslaunch jsk_pepper_startup jsk_pepper_startup.launchして、pepper_bringup/launch/pepper.launch にnao_pose/launch/pose_manager.launch があるかどうかで比較しました。

nao_pose/pose_manager.launch がないとき

nao@pepper:~$ rosnode list
/camera/depth/camera
/camera/front/camera
/cmd_vel_relay
/image_saver
/joy_client
/nao_alife
/nao_audio
/nao_behaviors
/nao_logger
/nao_speech
/nao_vision
/naoqi_joint_states
/naoqi_moveto
/pepper_laser
/pepper_twitter
/robot_state_publisher
/rosout
/teleop_joy
/turtlebot_teleop_joystick
/tweet

nao@pepper:~$ rostopic list
/camera/depth/camera/camera_info
/camera/depth/camera/image_raw
/camera/depth/camera/parameter_descriptions
/camera/depth/camera/parameter_updates
/camera/front/camera/camera_info
/camera/front/camera/image_raw
/camera/front/camera/parameter_descriptions
/camera/front/camera/parameter_updates
/camera/top/camera/camera_info
/camera/top/camera/image_raw
/cmd_vel
/cmd_vel_mux/input/teleop
/diagnostics
/imu
/joint_angles
/joint_states
/joint_stiffness
/joy
/move_base_simple/goal
/nao_audio/audio_source_localization
/nao_speech/parameter_descriptions
/nao_speech/parameter_updates
/odom
/pepper/laser/ground_left/pointcloud
/pepper/laser/ground_left/scan
/pepper/laser/ground_right/pointcloud
/pepper/laser/ground_right/scan
/pepper/laser/shovel/pointcloud
/pepper/laser/shovel/scan
/pepper/laser/srd_front/pointcloud
/pepper/laser/srd_front/scan
/pepper/laser/srd_left/pointcloud
/pepper/laser/srd_left/scan
/pepper/laser/srd_right/pointcloud
/pepper/laser/srd_right/scan
/pepper_navigation/front
/pepper_tweet
/rosout
/rosout_agg
/run_behavior/cancel
/run_behavior/feedback
/run_behavior/goal
/run_behavior/result
/run_behavior/status
/speech
/speech_action/cancel
/speech_action/feedback
/speech_action/goal
/speech_action/result
/speech_action/status
/speech_vocabulary_action/cancel
/speech_vocabulary_action/feedback
/speech_vocabulary_action/goal
/speech_vocabulary_action/result
/speech_vocabulary_action/status
/tf
/tweet
/word_recognized

nao_pose/pose_manager.launch がある時

nao@pepper:~$ rosnode list
/camera/depth/camera
/camera/front/camera
/cmd_vel_relay
/image_saver
/joy_client
/nao_alife
/nao_audio
/nao_behaviors
/nao_logger
/nao_speech
/nao_vision
/naoqi_joint_states
/naoqi_moveto
/pepper_laser
/pepper_twitter
/pose_controller
/pose_manager
/robot_state_publisher
/rosout
/teleop_joy
/turtlebot_teleop_joystick
/tweet

nao@pepper:~$ rostopic list 
/body_pose/cancel
/body_pose/feedback
/body_pose/goal
/body_pose/result
/body_pose/status
/body_pose_naoqi/cancel
/body_pose_naoqi/feedback
/body_pose_naoqi/goal
/body_pose_naoqi/result
/body_pose_naoqi/status
/camera/depth/camera/camera_info
/camera/depth/camera/image_raw
/camera/depth/camera/parameter_descriptions
/camera/depth/camera/parameter_updates
/camera/front/camera/camera_info
/camera/front/camera/image_raw
/camera/front/camera/parameter_descriptions
/camera/front/camera/parameter_updates
/camera/top/camera/camera_info
/camera/top/camera/image_raw
/cmd_vel
/cmd_vel_mux/input/teleop
/diagnostics
/imu
/joint_angles
/joint_angles_action/cancel
/joint_angles_action/feedback
/joint_angles_action/goal
/joint_angles_action/result
/joint_angles_action/status
/joint_states
/joint_stiffness
/joint_stiffness_trajectory/cancel
/joint_stiffness_trajectory/feedback
/joint_stiffness_trajectory/goal
/joint_stiffness_trajectory/result
/joint_stiffness_trajectory/status
/joint_trajectory/cancel
/joint_trajectory/feedback
/joint_trajectory/goal
/joint_trajectory/result
/joint_trajectory/status
/joy
/move_base_simple/goal
/nao_audio/audio_source_localization
/nao_speech/parameter_descriptions
/nao_speech/parameter_updates
/odom
/pepper/laser/ground_left/pointcloud
/pepper/laser/ground_left/scan
/pepper/laser/ground_right/pointcloud
/pepper/laser/ground_right/scan
/pepper/laser/shovel/pointcloud
/pepper/laser/shovel/scan
/pepper/laser/srd_front/pointcloud
/pepper/laser/srd_front/scan
/pepper/laser/srd_left/pointcloud
/pepper/laser/srd_left/scan
/pepper/laser/srd_right/pointcloud
/pepper/laser/srd_right/scan
/pepper_navigation/front
/pepper_tweet
/rosout
/rosout_agg
/run_behavior/cancel
/run_behavior/feedback
/run_behavior/goal
/run_behavior/result
/run_behavior/status
/speech
/speech_action/cancel
/speech_action/feedback
/speech_action/goal
/speech_action/result
/speech_action/status
/speech_vocabulary_action/cancel
/speech_vocabulary_action/feedback
/speech_vocabulary_action/goal
/speech_vocabulary_action/result
/speech_vocabulary_action/status
/tf
/tweet
/word_recognized

kochigami commented 9 years ago

rosnode listは

/pose_controller
/pose_manager

rostopic listは

/body_pose/cancel
/body_pose/feedback
/body_pose/goal
/body_pose/result
/body_pose/status
/body_pose_naoqi/cancel
/body_pose_naoqi/feedback
/body_pose_naoqi/goal
/body_pose_naoqi/result
/body_pose_naoqi/status

(/joint_angles)　両方ある
/joint_angles_action/cancel
/joint_angles_action/feedback
/joint_angles_action/goal
/joint_angles_action/result
/joint_angles_action/status

(/joint_stiffness) 両方ある
/joint_stiffness_trajectory/cancel
/joint_stiffness_trajectory/feedback
/joint_stiffness_trajectory/goal
/joint_stiffness_trajectory/result
/joint_stiffness_trajectory/status
/joint_trajectory/cancel
/joint_trajectory/feedback
/joint_trajectory/goal
/joint_trajectory/result
/joint_trajectory/status

が増えています。（nao_pose/pose_manager.launch だけあげて確かめれば良かったです・・・申し訳ございません。）

jsk-ros-pkg / jsk_robot

pepper実機の関節角を動かそうとするとシミュレータが立ち上がる #341