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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
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Python script for Action Server fails #6

Closed henningdebuhr closed 4 years ago

henningdebuhr commented 4 years ago

Hi, i'm on U16.04 @ ROS kinetic i followed the install instructions (i guess) catkin_ws/src is: CMakeLists.txt
franka_ros_interface
panda_robot franka_panda_description
orocos_kinematics_dynamics
panda_simulator

during: roslaunch panda_gazebo panda_world.launch lots of stuff then... Starting context monitors... [ INFO] [1592385325.219129687]: Starting scene monitor [ INFO] [1592385325.225041161]: Listening to '/planning_scene' [ INFO] [1592385325.225079605]: Starting world geometry monitor publishing and latching message. Press ctrl-C to terminate [ INFO] [1592385325.229153591]: Listening to '/collision_object' using message notifier with target frame '/world ' [ INFO] [1592385325.232247326]: Listening to '/planning_scene_world' for planning scene world geometry

[gripper_action_server_emulator-15] process has died [pid 19857, exit code -11, cmd /home/hdb/ai/catikin_ws/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py name:=gripper_action_server_emulator __log:=/home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/gripper_action_server_emulator-15.log]. log file: /home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/gripper_action_server_emulator-15*.log [move_group-16] process has died [pid 19860, exit code -11, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group --debug name:=move_group log:=/home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/move_group-16.log]. log file: /home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/move_group-16*.log [joint_trajectory_server_emulator-14] process has died [pid 19856, exit code -11, cmd /home/hdb/ai/catikin_ws/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py name:=joint_trajectory_server_emulator __log:=/home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/joint_trajectory_server_emulator-14.log]. log file: /home/hdb/.ros/log/12882122-b07b-11ea-9da0-185e0f9238df/joint_trajectory_server_emulator-14*.log

this mentioned log files are empty Any ideas?

justagist commented 4 years ago

When the launch file runs, are the controllers starting correctly before the trajectory servers are loaded? You should see messages similar to [controller_spawner_stopped-8] process has finished cleanly and [controller_spawner-7] process has finished cleanly in the [lots of stuff] part.

If not, then the launch file is starting nodes in the wrong order. In this case, launch the simulator with the argument use_custom_action_servers:=false. Wait for the controllers to load fully, then start the server nodes (and if needed, the moveit server) in separate terminals (see launch files for the required nodes).

I can't be fully sure what is wrong without seeing an error log or fault trace of some kind, sorry.

henningdebuhr commented 4 years ago

Manual start after use_custom_action_servers:=false works.

thx for support and upload