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Repository for the DRC project.
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drcsim 1.1 crashes when runing rosbag record -a #42

Closed osrf-migration closed 11 years ago

osrf-migration commented 12 years ago

Original report (archived issue) by michele hallak (Bitbucket: mhallak).

  1. launch drcsim
  2. run rosbag record -a 
    ***************TRACE*************************************
mhallak@darpaws4:~/michele/ros/bagfiles$ rosbag record -a
[ INFO] [1353504008.570913653, 1218.288000000]: Recording to 2012-11-21-15-20-08.bag.
[ INFO] [1353504009.516918430, 1219.222000000]: Subscribing to /right_eye/image_raw/theora/parameter_descriptions
[ INFO] [1353504009.517729928, 1219.223000000]: Subscribing to /right_eye/camera_info
[ INFO] [1353504009.554760175, 1219.259000000]: Subscribing to /tf2_buffer_server/result
[ INFO] [1353504009.590966789, 1219.292000000]: Subscribing to /left_eye/image_raw/compressed
[ INFO] [1353504009.623971456, 1219.324000000]: Subscribing to /mechanism_statistics
[ INFO] [1353504009.654183902, 1219.354000000]: Subscribing to /tf
[ INFO] [1353504009.684416312, 1219.384000000]: Subscribing to /right_eye/image_raw/compressedDepth
[ INFO] [1353504009.723536949, 1219.423000000]: Subscribing to /left_eye/image_raw/theora/parameter_descriptions
[ INFO] [1353504009.762969113, 1219.462000000]: Subscribing to /tf2_buffer_server/feedback
[ INFO] [1353504009.802274620, 1219.500000000]: Subscribing to /left_eye/image_raw/compressed/parameter_updates
[ INFO] [1353504009.841504786, 1219.540000000]: Subscribing to /drc_controller/joint_trajectory_action/result
[ INFO] [1353504009.880736904, 1219.578000000]: Subscribing to /scan
[ INFO] [1353504009.917039751, 1219.614000000]: Subscribing to /left_eye/image_raw/theora
[ INFO] [1353504009.960790992, 1219.657000000]: Subscribing to /left_eye/image_raw
[ INFO] [1353504009.996946102, 1219.693000000]: Subscribing to /drc_controller/joint_trajectory_action/status
[ INFO] [1353504010.036891134, 1219.733000000]: Subscribing to /left_eye/image_raw/theora/parameter_updates
[ INFO] [1353504010.076029599, 1219.772000000]: Subscribing to /tf2_buffer_server/status
[ INFO] [1353504010.111924358, 1219.805000000]: Subscribing to /left_eye/image_raw/compressed/parameter_descriptions
[ INFO] [1353504010.158578495, 1219.846000000]: Subscribing to /drc_controller/follow_joint_trajectory/feedback
[ INFO] [1353504010.197369268, 1219.846000000]: Subscribing to /imu
[ INFO] [1353504010.239830708, 1219.846000000]: Subscribing to /diagnostics
[ INFO] [1353504010.284117160, 1219.846000000]: Subscribing to /right_eye/image_raw/compressedDepth/parameter_updates
[ INFO] [1353504010.327989716, 1219.846000000]: Subscribing to /right_eye/image_raw/compressed
[ INFO] [1353504010.372621867, 1219.846000000]: Subscribing to /right_eye/image_raw/compressedDepth/parameter_descriptions
[ INFO] [1353504010.420695015, 1219.846000000]: Subscribing to /right_eye/image_raw/theora
[ INFO] [1353504010.463357992, 1219.846000000]: Subscribing to /left_eye/image_raw/compressedDepth/parameter_descriptions
[ INFO] [1353504010.495781914, 1219.846000000]: Subscribing to /left_eye/camera_info
[ INFO] [1353504010.538164030, 1219.846000000]: Subscribing to /joint_states
[ INFO] [1353504010.574706113, 1219.846000000]: Subscribing to /rosout
[ INFO] [1353504010.611342467, 1219.846000000]: Subscribing to /drc_controller/follow_joint_trajectory/result
[ INFO] [1353504010.647673563, 1219.846000000]: Subscribing to /drc_controller/state
[ INFO] [1353504010.691654987, 1219.846000000]: Subscribing to /rosout_agg
[ INFO] [1353504010.723209492, 1219.846000000]: Subscribing to /drc_controller/joint_trajectory_action/feedback
[ INFO] [1353504010.764793953, 1219.846000000]: Subscribing to /drc_controller/follow_joint_trajectory/status
[ INFO] [1353504010.820216049, 1219.846000000]: Subscribing to /left_eye/image_raw/compressedDepth/parameter_updates
[ INFO] [1353504010.866410835, 1219.846000000]: Subscribing to /clock
[ INFO] [1353504010.866474981, 1219.846000000]: Subscribing to /right_eye/image_raw/theora/parameter_updates
[ INFO] [1353504010.903484033, 1219.846000000]: Subscribing to /right_eye/image_raw
[ INFO] [1353504010.939911266, 1219.846000000]: Subscribing to /right_eye/image_raw/compressed/parameter_descriptions
[ INFO] [1353504010.980548324, 1219.846000000]: Subscribing to /right_eye/image_raw/compressed/parameter_updates
[ INFO] [1353504011.021629613, 1219.846000000]: Subscribing to /left_eye/image_raw/compressedDepth
[ INFO] [1353504011.057871629, 1219.846000000]: Subscribing to /calibrated
***************************************************************************

    If you need more information let me know.

osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Hi Michele, can you also post any console outputs where drcsim was started? thanks, John

osrf-migration commented 11 years ago

Original comment by michele hallak (Bitbucket: mhallak).

The console output is:

mhallak@darpaws4:~/drcsim$ ... logging to /userhome/mhallak/.ros/log/2bcbe92a-3dce-11e2-a647-ac162d06621e/roslaunch-darpaws4-32454.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://localhost:37848/

SUMMARY
========

PARAMETERS
 * /drc_controller/gains/back_lbz/d
 * /drc_controller/gains/back_lbz/i
 * /drc_controller/gains/back_lbz/i_clamp
 * /drc_controller/gains/back_lbz/p
 * /drc_controller/gains/back_mby/d
 * /drc_controller/gains/back_mby/i
 * /drc_controller/gains/back_mby/i_clamp
 * /drc_controller/gains/back_mby/p
 * /drc_controller/gains/back_ubx/d
 * /drc_controller/gains/back_ubx/i
 * /drc_controller/gains/back_ubx/i_clamp
 * /drc_controller/gains/back_ubx/p
 * /drc_controller/gains/l_arm_elx/d
 * /drc_controller/gains/l_arm_elx/i
 * /drc_controller/gains/l_arm_elx/i_clamp
 * /drc_controller/gains/l_arm_elx/p
 * /drc_controller/gains/l_arm_ely/d
 * /drc_controller/gains/l_arm_ely/i
 * /drc_controller/gains/l_arm_ely/i_clamp
 * /drc_controller/gains/l_arm_ely/p
 * /drc_controller/gains/l_arm_mwx/d
 * /drc_controller/gains/l_arm_mwx/i
 * /drc_controller/gains/l_arm_mwx/i_clamp
 * /drc_controller/gains/l_arm_mwx/p
 * /drc_controller/gains/l_arm_shx/d
 * /drc_controller/gains/l_arm_shx/i
 * /drc_controller/gains/l_arm_shx/i_clamp
 * /drc_controller/gains/l_arm_shx/p
 * /drc_controller/gains/l_arm_usy/d
 * /drc_controller/gains/l_arm_usy/i
 * /drc_controller/gains/l_arm_usy/i_clamp
 * /drc_controller/gains/l_arm_usy/p
 * /drc_controller/gains/l_arm_uwy/d
 * /drc_controller/gains/l_arm_uwy/i
 * /drc_controller/gains/l_arm_uwy/i_clamp
 * /drc_controller/gains/l_arm_uwy/p
 * /drc_controller/gains/l_leg_kny/d
 * /drc_controller/gains/l_leg_kny/i
 * /drc_controller/gains/l_leg_kny/i_clamp
 * /drc_controller/gains/l_leg_kny/p
 * /drc_controller/gains/l_leg_lax/d
 * /drc_controller/gains/l_leg_lax/i
 * /drc_controller/gains/l_leg_lax/i_clamp
 * /drc_controller/gains/l_leg_lax/p
 * /drc_controller/gains/l_leg_lhy/d
 * /drc_controller/gains/l_leg_lhy/i
 * /drc_controller/gains/l_leg_lhy/i_clamp
 * /drc_controller/gains/l_leg_lhy/p
 * /drc_controller/gains/l_leg_mhx/d
 * /drc_controller/gains/l_leg_mhx/i
 * /drc_controller/gains/l_leg_mhx/i_clamp
 * /drc_controller/gains/l_leg_mhx/p
 * /drc_controller/gains/l_leg_uay/d
 * /drc_controller/gains/l_leg_uay/i
 * /drc_controller/gains/l_leg_uay/i_clamp
 * /drc_controller/gains/l_leg_uay/p
 * /drc_controller/gains/l_leg_uhz/d
 * /drc_controller/gains/l_leg_uhz/i
 * /drc_controller/gains/l_leg_uhz/i_clamp
 * /drc_controller/gains/l_leg_uhz/p
 * /drc_controller/gains/neck_ay/d
 * /drc_controller/gains/neck_ay/i
 * /drc_controller/gains/neck_ay/i_clamp
 * /drc_controller/gains/neck_ay/p
 * /drc_controller/gains/r_arm_elx/d
 * /drc_controller/gains/r_arm_elx/i
 * /drc_controller/gains/r_arm_elx/i_clamp
 * /drc_controller/gains/r_arm_elx/p
 * /drc_controller/gains/r_arm_ely/d
 * /drc_controller/gains/r_arm_ely/i
 * /drc_controller/gains/r_arm_ely/i_clamp
 * /drc_controller/gains/r_arm_ely/p
 * /drc_controller/gains/r_arm_mwx/d
 * /drc_controller/gains/r_arm_mwx/i
 * /drc_controller/gains/r_arm_mwx/i_clamp
 * /drc_controller/gains/r_arm_mwx/p
 * /drc_controller/gains/r_arm_shx/d
 * /drc_controller/gains/r_arm_shx/i
 * /drc_controller/gains/r_arm_shx/i_clamp
 * /drc_controller/gains/r_arm_shx/p
 * /drc_controller/gains/r_arm_usy/d
 * /drc_controller/gains/r_arm_usy/i
 * /drc_controller/gains/r_arm_usy/i_clamp
 * /drc_controller/gains/r_arm_usy/p
 * /drc_controller/gains/r_arm_uwy/d
 * /drc_controller/gains/r_arm_uwy/i
 * /drc_controller/gains/r_arm_uwy/i_clamp
 * /drc_controller/gains/r_arm_uwy/p
 * /drc_controller/gains/r_leg_kny/d
 * /drc_controller/gains/r_leg_kny/i
 * /drc_controller/gains/r_leg_kny/i_clamp
 * /drc_controller/gains/r_leg_kny/p
 * /drc_controller/gains/r_leg_lax/d
 * /drc_controller/gains/r_leg_lax/i
 * /drc_controller/gains/r_leg_lax/i_clamp
 * /drc_controller/gains/r_leg_lax/p
 * /drc_controller/gains/r_leg_lhy/d
 * /drc_controller/gains/r_leg_lhy/i
 * /drc_controller/gains/r_leg_lhy/i_clamp
 * /drc_controller/gains/r_leg_lhy/p
 * /drc_controller/gains/r_leg_mhx/d
 * /drc_controller/gains/r_leg_mhx/i
 * /drc_controller/gains/r_leg_mhx/i_clamp
 * /drc_controller/gains/r_leg_mhx/p
 * /drc_controller/gains/r_leg_uay/d
 * /drc_controller/gains/r_leg_uay/i
 * /drc_controller/gains/r_leg_uay/i_clamp
 * /drc_controller/gains/r_leg_uay/p
 * /drc_controller/gains/r_leg_uhz/d
 * /drc_controller/gains/r_leg_uhz/i
 * /drc_controller/gains/r_leg_uhz/i_clamp
 * /drc_controller/gains/r_leg_uhz/p
 * /drc_controller/joint_trajectory_action_node/constraints/back_lbz/goal
 * /drc_controller/joint_trajectory_action_node/constraints/back_mby/goal
 * /drc_controller/joint_trajectory_action_node/constraints/back_ubx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/goal_time
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_elx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_ely/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_mwx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_shx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_usy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_arm_uwy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_kny/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_lax/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_lhy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_mhx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_uay/goal
 * /drc_controller/joint_trajectory_action_node/constraints/l_leg_uhz/goal
 * /drc_controller/joint_trajectory_action_node/constraints/neck_ay/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_elx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_ely/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_mwx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_shx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_usy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_arm_uwy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_kny/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_lax/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_lhy/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_mhx/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_uay/goal
 * /drc_controller/joint_trajectory_action_node/constraints/r_leg_uhz/goal
 * /drc_controller/joint_trajectory_action_node/joints
 * /drc_controller/joints
 * /drc_controller/type
 * /pr2_controller_manager/joint_state_publish_rate
 * /pr2_controller_manager/mechanism_statistics_publish_rate
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /tf2_buffer_server/buffer_size
 * /use_sim_time

NODES
  /
    drc_robot_controller_spawner (pr2_controller_manager/spawner)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (drc_robot_utils/run_gazebo)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    robot_state_publisher (robot_state_publisher/state_publisher)
    tf2_buffer_server (tf2_ros/buffer_server)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [32470]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2bcbe92a-3dce-11e2-a647-ac162d06621e
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [32483]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-2]: started with pid [32497]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-3]: started with pid [32499]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[pr2_mechanism_diagnostics-4]: started with pid [32500]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[fake_joint_calibration-5]: started with pid [32537]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[tf2_buffer_server-6]: started with pid [32543]
[ WARN] [1354596651.607543960]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions.
Gazebo multi-robot simulator, version 1.2
Copyright (C) 2011 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.2
Copyright (C) 2011 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
Warning [parser.cc:375] Gazebo SDF has no <gazebo> element in file[/usr/local/share/drcsim-1.1/models/drc_robot/model.sdf]
Dbg [pelvis] has no parent joint
Warning [parser_urdf.cc:1125] urdf2gazebo: link[left_camera_optical_frame] has no inertia, parent joint [left_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1129] urdf2gazebo: link[left_camera_optical_frame] has no inertia, not modeled in gazebo
Warning [parser_urdf.cc:1125] urdf2gazebo: link[right_camera_optical_frame] has no inertia, parent joint [right_camera_optical_frame_joint] ignored
.Warning [parser_urdf.cc:1129] urdf2gazebo: link[right_camera_optical_frame] has no inertia, not modeled in gazebo
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[drc_robot_controller_spawner-7]: started with pid [32576]
Warning [parser.cc:286] parse from urdf file [/usr/local/share/drcsim-1.1/models/drc_robot/model.sdf].
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1354596653.429661651]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1354596653.429863100]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [1354596653.647904061]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1354596653.647959063]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1354596653.648004315]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1354596653.648051602]: Camera plugin missing <focalLength>, defaults to 0
[ INFO] [1354596654.258897190]: Camera plugin missing <CxPrime>, defaults to 0
[ INFO] [1354596654.258991498]: Camera plugin missing <Cx>, defaults to 0
[ INFO] [1354596654.259053773]: Camera plugin missing <Cy>, defaults to 0
[ INFO] [1354596654.259090100]: Camera plugin missing <focalLength>, defaults to 0
[ WARN] [1354596654.672735681, 0.001000000]: Start robot with gravity turned off for all links.
[ WARN] [1354596654.672821796, 0.001000000]:   rostopic pub /mode std_msgs/String '{data: "nominal"}'
[ WARN] [1354596654.672912726, 0.001000000]: To re-engage.
[ INFO] [1354596654.769306325, 0.001000000]: starting gazebo_ros_controller_manager plugin in ns: 
[ INFO] [1354596654.769568961, 0.001000000]: Callback thread id=0x7faff405b110
[ INFO] [1354596654.773371665, 0.001000000]: gazebo controller manager plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1354596654.874576022, 0.001000000]: gazebo controller manager got urdf from param server, parsing it...
[ INFO] [1354596655.109995999, 0.001000000]: imu plugin missing <serviceName>, defaults to /default_imu
mhallak@darpaws4:~/drcsim$ [INFO] [WallTime: 1354596655.493584] [0.381000] Loaded controllers: drc_controller
[INFO] [WallTime: 1354596655.497382] [0.385000] Started controllers: drc_controller
osrf-migration commented 11 years ago

Original comment by michele hallak (Bitbucket: mhallak).

After running rosbag, the console output:

[ERROR] [1354596989.805287543, 40.076000000]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[gazebo-2] process has finished cleanly
log file: /userhome/mhallak/.ros/log/dc398fd8-3dce-11e2-9901-ac162d06621e/gazebo-2*.log
osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Hi Michele, can you edit your messages and put 3 tilde's before and after the console blocks? For example,

~~~
copy and past stuff from console
blah blah blah...
~~~

should yield something that's more legible

copy and past stuff from console
blah blah blah...
osrf-migration commented 11 years ago

Original comment by michele hallak (Bitbucket: mhallak).

Hi John, It's done. Hope it helps. Regards Michele

osrf-migration commented 11 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

rosbag record -a works in drcsim-2.0.0