kochigami
commented
8 years ago I think it's different from the problem mentioned above. This time roslaunch jsk_pepper_startup jsk_pepper_startup.launch sometimes fails.
I use ubuntu 14.04, ros indigo, naoqi_driver from source (master branch , top commit is "0.5.8" )
- yesterday I updated my naoqi_driver package
- I have to wait for a long time before launching my other programs?
- my created programs do bad things on jsk_pepper_startup? (<=> after trying three times, my programs seem to work properly.)
- [ ] see commits of naoqi_driver
- [ ] wait for a while and then launching my other programs
- [ ] check topic names of my programs
I think this part is problem.
[WARN] [WallTime: 1464073031.515735] unable to communicate with ROS Master, registrations are now out of sync
Traceback (most recent call last):
File "/opt/ros/indigo/lib/diagnostic_common_diagnostics/tf_monitor.py", line 185, in <module>
diag_updater.update()
File "/opt/ros/indigo/lib/python2.7/dist-packages/diagnostic_updater/_diagnostic_updater.py", line 245, in update
self._check_diagnostic_period()
File "/opt/ros/indigo/lib/python2.7/dist-packages/diagnostic_updater/_diagnostic_updater.py", line 320, in _check_diagnostic_period
self.period = rospy.get_param("~diagnostic_period", 1)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 462, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msproxy.py", line 121, in __getitem__
code, msg, value = self.target.getParam(rospy.names.get_caller_id(), resolved_key)
File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 797, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 778, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
socket.error: [Errno 111] Connection refused
[tf_monitor-10] process has died [pid 27185, exit code 1, cmd /opt/ros/indigo/lib/diagnostic_common_diagnostics/tf_monitor.py __name:=tf_monitor __log:=/home/kochigami/.ros/log/4c7438a4-217c-11e6-9d6a-bc5ff4fcfea0/tf_monitor-10.log].
log file: /home/kochigami/.ros/log/4c7438a4-217c-11e6-9d6a-bc5ff4fcfea0/tf_monitor-10*.logAll launching message is below.
roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=eth1
... logging to /home/kochigami/.ros/log/4c7438a4-217c-11e6-9d6a-bc5ff4fcfea0/roslaunch-kochigami-desktop-27099.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/kochigami/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://192.168.97.25:45190/
SUMMARY
========
CLEAR PARAMETERS
* /naoqi_dashboard_aggregator/
PARAMETERS
* /image_saver/filename_format: /tmp/pepper_camer...
* /image_saver/save_all_image: False
* /joy_node/autorepeat_rate: 20
* /joy_node/deadzone: 0.3
* /joy_node/dev: /dev/input/js0
* /naoqi_dashboard_aggregator/analyzers/joystick/discard_stale: True
* /naoqi_dashboard_aggregator/analyzers/joystick/find_and_remove_prefix: joy_node
* /naoqi_dashboard_aggregator/analyzers/joystick/path: Joystick
* /naoqi_dashboard_aggregator/analyzers/joystick/type: diagnostic_aggreg...
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/find_and_remove_prefix: naoqi_driver_comp...
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/path: Computer
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/type: diagnostic_aggreg...
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/find_and_remove_prefix: naoqi_driver_joints:
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/path: Joints
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/type: diagnostic_aggreg...
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/find_and_remove_prefix: naoqi_driver_batt...
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/path: Power System
* /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/type: diagnostic_aggreg...
* /naoqi_dashboard_aggregator/analyzers/naoqi/path: NAOqi
* /naoqi_dashboard_aggregator/analyzers/naoqi/type: diagnostic_aggreg...
* /naoqi_dashboard_aggregator/analyzers/tf/find_and_remove_prefix: tf_monitor:
* /naoqi_dashboard_aggregator/analyzers/tf/path: TF
* /naoqi_dashboard_aggregator/analyzers/tf/type: diagnostic_aggreg...
* /pepper_robot/pose/pose_manager/poses/init/joint_names: ['Body']
* /pepper_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ...
* /pepper_robot/pose/pose_manager/poses/init/time_from_start: 1.5
* /pepper_robot/pose/pose_manager/poses/zero/joint_names: ['Body']
* /pepper_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0...
* /pepper_robot/pose/pose_manager/poses/zero/time_from_start: 1.5
* /pepper_robot/pose/pose_manager/xap: /home/kochigami/c...
* /robot/name: dhcp87
* /robot/type: pepper
* /rosdistro: indigo
* /rosversion: 1.11.19
* /teleop_twist_joy/axis_angular/yaw: 3
* /teleop_twist_joy/axis_linear/x: 1.0
* /teleop_twist_joy/axis_linear/y: 0.0
* /teleop_twist_joy/enable_button: 4
* /teleop_twist_joy/enable_turbo_button: 0
* /teleop_twist_joy/scale_angular/yaw: 1.0
* /teleop_twist_joy/scale_augular_turbo/yaw: 1.5
* /teleop_twist_joy/scale_linear/x: 0.7
* /teleop_twist_joy/scale_linear/y: 0.7
* /teleop_twist_joy/scale_linear_turbo/x: 1.5
* /teleop_twist_joy/scale_linear_turbo/y: 1.5
NODES
/
image_saver (image_view/image_saver)
joy_client (jsk_pepper_startup/joy-client.l)
joy_node (joy/joy_node)
naoqi_dashboard (naoqi_dashboard/naoqi_dashboard)
naoqi_dashboard_aggregator (diagnostic_aggregator/aggregator_node)
pepper_twitter (jsk_pepper_startup/tweet.l)
teleop_twist_joy (teleop_twist_joy/teleop_node)
tf_monitor (diagnostic_common_diagnostics/tf_monitor.py)
tweet (rostwitter/tweet.py)
/pepper_robot/pose/
pose_controller (naoqi_pose/pose_controller.py)
pose_manager (naoqi_pose/pose_manager.py)
/pepper_robot/
naoqi_driver (naoqi_driver/naoqi_driver_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[pepper_robot/naoqi_driver-1]: started with pid [27123]
process[pepper_robot/pose/pose_controller-2]: started with pid [27124]
process[pepper_robot/pose/pose_manager-3]: started with pid [27125]
process[joy_node-4]: started with pid [27126]
process[teleop_twist_joy-5]: started with pid [27127]
process[pepper_twitter-6]: started with pid [27135]
process[tweet-7]: started with pid [27151]
process[image_saver-8]: started with pid [27161]
[ERROR] [1464072921.579928041]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[naoqi_dashboard-9]: started with pid [27180]
Receiving information about robot model
process[tf_monitor-10]: started with pid [27185]
process[naoqi_dashboard_aggregator-11]: started with pid [27198]
[W] 27123 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
process[joy_client-12]: started with pid [27210]
configuring by "/opt/ros/indigo/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 [W] 27123 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
;; Xevent ;; Xpanel ;; Xitem set prefix successfully to
[I] 27123 qimessaging.session: Session listener created on tcp://0.0.0.0:0
;; Xtext [I] 27123 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.97.25:57958
[I] 27123 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:57958
;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin using ip address: 192.168.97.25 @ eth1
connected to Xserver DISPLAY=:0
configuring by "/opt/ros/indigo/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 X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; pbmfile ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; image_correlation ;; oglforeign ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; gldecl ;; glconst ;; Xgraphics ;; Xcolor ;; Xeus ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph
connected to Xserver DISPLAY=:0
pgsql X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage found a catkin prefix /home/kochigami/catkin_ws/src/naoqi_driver/share/boot_config.json
load boot config from /home/kochigami/catkin_ws/src/naoqi_driver/share/boot_config.json
;; pbmfile irtgeo ;; image_correlation ;; oglforeign euspqp pqp irtscene irtmodel ;; gldecl ;; glconst irtdyna irtrobot irtsensor ;; glforeign ;; gluconst ;; gluforeign irtbvh ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview irtcollada ;; toiv-undefined ;; fstringdouble irtpointcloud irtmath irtutil irtc irtgeoc irtgraph irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x583cde0[16374] --> 0x5c9af10[32748] top=3c7e
pgsql irtgl irtgeo euspqp pqp irtscene irtmodel irtviewer
EusLisp 9.19( 1.0.12) for Linux64 created on ip-172-31-15-39(Thu May 5 01:33:05 PDT 2016)
irtdyna irtrobot irtsensor irtbvh roseus ;; loading roseus("") on euslisp((9.19 ip-172-31-15-39 Thu May 5 01:33:05 PDT 2016 1.0.12))
irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb eustf
;; extending gcstack 0x599ade0[16374] --> 0x5df8f10[32748] top=3c7e
irtgl irtviewer
EusLisp 9.19( 1.0.12) for Linux64 created on ip-172-31-15-39(Thu May 5 01:33:05 PDT 2016)
roseus ;; loading roseus("") on euslisp((9.19 ip-172-31-15-39 Thu May 5 01:33:05 PDT 2016 1.0.12))
[INFO] [WallTime: 1464072922.065954] Connecting to NaoQi at 192.168.97.87:9559
eustf [I] 27124 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 27124 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.97.25:38044
[I] 27124 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:38044
roseus_c_util [WARN] [WallTime: 1464072922.200799] Collection LLeg not found on your robot.
[WARN] [WallTime: 1464072922.212013] Collection RLeg not found on your robot.
roseus_c_util [INFO] [WallTime: 1464072922.334406] nao_controller initialized
[INFO] [WallTime: 1464072922.334849] nao pose_controller running...
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/kochigami/catkin_ws/src/naoqi_driver/share/urdf/pepper.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber: teleop
registered subscriber: moveto
registered subscriber: speech
nodehandle reset
using master ip: http://192.168.97.25:11311
NOT going to re-register the converters
camera/bottom/image_raw is resetting
camera/bottom/image_raw reset
camera/depth/image_raw is resetting
camera/depth/image_raw reset
/diagnostics is resetting
/diagnostics reset
camera/front/image_raw is resetting
camera/front/image_raw reset
imu/base is resetting
imu/base reset
imu/torso is resetting
imu/torso reset
info is resetting
load robot description from file
info reset
camera/ir/image_raw is resetting
camera/ir/image_raw reset
/joint_states is resetting
/joint_states reset
laser is resetting
laser reset
/rosout is resetting
/rosout reset
sonar is resetting
sonar reset
resetting subscriber teleop
teleop is resetting
teleop reset
resetting subscriber moveto
moveto is resetting
moveto reset
resetting subscriber speech
speech is resetting
speech reset
resetting service robot config service
robot config service is resetting
resetting service speech recognition service
speech recognition service is resetting
resetting service speech recognition service
speech recognition service is resetting
[WARN] [WallTime: 1464072924.441360] stop_walk_srv not available, pose_manager will not stop the walker before executing a trajectory. This is normal if there is no nao_walker running.
[ERROR] [WallTime: 1464072938.197565] /tweet /tmp/pepper_camera.png could not find
[WARN] [WallTime: 1464073031.515735] unable to communicate with ROS Master, registrations are now out of sync
Traceback (most recent call last):
File "/opt/ros/indigo/lib/diagnostic_common_diagnostics/tf_monitor.py", line 185, in <module>
diag_updater.update()
File "/opt/ros/indigo/lib/python2.7/dist-packages/diagnostic_updater/_diagnostic_updater.py", line 245, in update
self._check_diagnostic_period()
File "/opt/ros/indigo/lib/python2.7/dist-packages/diagnostic_updater/_diagnostic_updater.py", line 320, in _check_diagnostic_period
self.period = rospy.get_param("~diagnostic_period", 1)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 462, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msproxy.py", line 121, in __getitem__
code, msg, value = self.target.getParam(rospy.names.get_caller_id(), resolved_key)
File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 797, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 778, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 571, in create_connection
raise err
socket.error: [Errno 111] Connection refused
[tf_monitor-10] process has died [pid 27185, exit code 1, cmd /opt/ros/indigo/lib/diagnostic_common_diagnostics/tf_monitor.py __name:=tf_monitor __log:=/home/kochigami/.ros/log/4c7438a4-217c-11e6-9d6a-bc5ff4fcfea0/tf_monitor-10.log].
log file: /home/kochigami/.ros/log/4c7438a4-217c-11e6-9d6a-bc5ff4fcfea0/tf_monitor-10*.log
k-okada
roslaunch jsk_pepper_startup jsk_pepper_startup.launchを実行した時，中に含まれるnaoqi_driver/launch/naoqi_driver.launchの立ち上がりが遅い時がある．（またはnaoqi_dashboardのノードが落ちて，naoqi_driver.launchも上がらないこともある （ログは取り忘れ））可能性は， 起動直後 or AutonomousLifeがsolitaryかinteractive ではないか． 分かったらこのissueを閉じる．
roslaunch jsk_pepper_startup jsk_pepper_startup.launchの実行結果ここで止まる### で止まる（
naoqi_driverの立ち上がる前の部分）