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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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Failed in roslaunch jsk_pepper_startup jsk_pepper_startup.launch #360

Closed kochigami closed 9 years ago

kochigami commented 9 years ago

Could you help us when we want to delete unnecessary nodes, which wouldn't be deleted even though we executed rosnode kill <node name>?

First, we found some topics have already existed before we launch nothing on Pepper.

/bumper
/cmd_pose
/cmd_vel
/diagnostics
/dummy_state
/joint_angles
/joint_states
/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
/robot_interface_marker_array
/rosout
/rosout_agg
/speech
/tactile_touch
/tf
/tf_static

In this situation, we got some errors when we executed one launch file for one node (for example) roslaunch nao_apps tactile.launch.

kochigami@kochigami-ThinkPad-T440p:~/ros/hydro/src/naoqi_bridge/naoqi_msgs [add-HandTouch.msg]$ roslaunch nao_apps tacticle.launch 
... logging to /home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/roslaunch-kochigami-ThinkPad-T440p-8370.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://133.11.216.151:59226/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    nao_tactile (nao_apps/nao_tactile.py)

ROS_MASTER_URI=http://pepper.jsk.imi.i.u-tokyo.ac.jp:11311

core service [/rosout] found
process[nao_tactile-1]: started with pid [8379]
Exception TypeError: "in method 'module_getName', argument 1 of type 'AL::module *'" in <bound method NaoTactile.__del__ of <__main__.NaoTactile;  >> ignored
================================================================================REQUIRED process [nao_tactile-1] has died!
process has died [pid 8379, exit code 1, cmd /home/kochigami/ros/hydro/src/nao_robot/nao_apps/nodes/nao_tactile.py --pip=olive.jsk.imi.i.u-tokyo.ac.jp --pport=9559 __name:=nao_tactile __log:=/home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/nao_tactile-1.log].
log file: /home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/nao_tactile-1*.log
Initiating shutdown!
================================================================================
[nao_tactile-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The content of log file in ~/.ros/log/... is as follows.

inaoqi-broker: construct at :0, parent : olive.jsk.imi.i.u-tokyo.ac.jp:9559
[I] 8556 qi.eventloop: Creating event loop while no qi::Application() is running
[I] 8556 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.151:57007
[I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:57007
[I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://157.82.7.39:57007
[W] 8570 qimessaging.transportsocket: connect: Operation canceled
Could not connect to NaoQi's main broker

The result of rosnode list is as follows.

rosnode list
/follow_hand_pulled_1435246029578825762
/follow_hand_pulled_1435246873184638926
/follow_hand_pulled_1435294065294784081
/follow_hand_pulled_1435296387535976156
/follow_hand_pulled_1435302718024993440
/nao_diagnostic_updater
/nao_tactile
/pepper_1435152016604059735
/rosout
/rostopic_11126_1435065410635
/rostopic_8007_1435561499308

However, we can't delete them by executing rosnode kill <node name>. Thanks in advance.

---> Now we try rebooting. If it succeeds, sorry for my mistake.

k-okada commented 9 years ago
  1. try rosnode cleanup to clean zombie process 2.ps -auxw | grep roscore to find othre roscore process is running and kill them
  2. reboot computer

◉ Kei Okada

On Mon, Jun 29, 2015 at 5:16 PM, Kanae Kochigami notifications@github.com wrote:

Could you help us when we want to delete unnecessary nodes, which wouldn't be deleted even though we executed rosnode kill ?

First, we found some topics have already existed before we launch nothing on Pepper.

/bumper /cmd_pose /cmd_vel /diagnostics /dummy_state /joint_angles /joint_states /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 /robot_interface_marker_array /rosout /rosout_agg /speech /tactile_touch /tf /tf_static

In this situation, we got some errors when we executed one launch file for one node (for example) roslaunch nao_apps tactile.launch.

kochigami@kochigami-ThinkPad-T440p:~/ros/hydro/src/naoqi_bridge/naoqi_msgs [add-HandTouch.msg]$ roslaunch nao_apps tacticle.launch ... logging to /home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/roslaunch-kochigami-ThinkPad-T440p-8370.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://133.11.216.151:59226/

SUMMARY

PARAMETERS

  • /rosdistro
  • /rosversion

NODES / nao_tactile (nao_apps/nao_tactile.py)

ROS_MASTER_URI=http://pepper.jsk.imi.i.u-tokyo.ac.jp:11311

core service [/rosout] found process[nao_tactile-1]: started with pid [8379] Exception TypeError: "in method 'modulegetName', argument 1 of type 'AL::module '" in <bound method NaoTactile.del of <main.NaoTactile; >> ignored ================================================================================REQUIRED process [nao_tactile-1] has died! process has died [pid 8379, exit code 1, cmd /home/kochigami/ros/hydro/src/nao_robot/nao_apps/nodes/nao_tactile.py --pip=olive.jsk.imi.i.u-tokyo.ac.jp --pport=9559 __name:=nao_tactile __log:=/home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/nao_tactile-1.log]. log file: /home/kochigami/.ros/log/eaaac870-19a9-11e5-8c68-c03fd5ac4304/naotactile-1.log

Initiating shutdown!

[nao_tactile-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

The content of log file in ~/.ros/log/... is as follows.

inaoqi-broker: construct at :0, parent : olive.jsk.imi.i.u-tokyo.ac.jp:9559 [I] 8556 qi.eventloop: Creating event loop while no qi::Application() is running [I] 8556 qimessaging.session: Session listener created on tcp://0.0.0.0:0 [I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.151:57007 [I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:57007 [I] 8556 qimessaging.transportserver: TransportServer will listen on: tcp://157.82.7.39:57007 [W] 8570 qimessaging.transportsocket: connect: Operation canceled Could not connect to NaoQi's main broker

The result of rosnode list is as follows. rosnode list /follow_hand_pulled_1435246029578825762 /follow_hand_pulled_1435246873184638926 /follow_hand_pulled_1435294065294784081 /follow_hand_pulled_1435296387535976156 /follow_hand_pulled_1435302718024993440 /nao_diagnostic_updater /nao_tactile /pepper_1435152016604059735 /rosout /rostopic_11126_1435065410635 /rostopic_8007_1435561499308

However, we can't delete them by executing rosnode kill <node name>. Thanks in advance.

— Reply to this email directly or view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/issues/360.

kochigami commented 9 years ago

Thank you very much for your help. rosnode cleanup works well. I'll try rosnode cleanup every times before we start our demonstration.