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robotics-in-concert / rocon_demos

Demo software for rocon milestones.
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P2Pdelivery service] concert_demo_sim_rapps error #67

Closed hughie closed 8 years ago

hughie commented 8 years ago

P2P delivery service를 simulation환경에서 실행한 뒤 conductor 그래프에 young이 local로 연결된 것을 확인한 뒤에 주문을 pub,

rostopic pub /p2p_delivery_order simple_delivery_msgs/P2PDeliveryOrder "id: 0
from_: 'sw_team'
to: 'svc_team'
message: 'helo'" --once

하면 simulation concert client 인 young에서 아래와 같은 에러 발생 

Type is not an action spec: <class 'simple_delivery_msgs.msg._P2PDeliveryOrder.P2PDeliveryOrder'>

master log

yujin@alien-wired:~/ros/headoffice_concert$ roslaunch demo_concert concert.launch --screen
... logging to /home/yujin/.ros/log/23c6b510-6194-11e5-86cc-ecf4bb55db1e/roslaunch-alien-wired-3520.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://192.168.10.23:41465/

SUMMARY
========

PARAMETERS
 * /concert/conductor/auto_invite: True
 * /concert/conductor/local_clients_only: False
 * /concert/description: Pirates in concert.
 * /concert/gateway/default_blacklist: [{'node': 'None',...
 * /concert/gateway/disable_uuids: False
 * /concert/gateway/disable_zeroconf: False
 * /concert/gateway/external_shutdown: True
 * /concert/gateway/firewall: False
 * /concert/gateway/hub_uri: http://localhost:...
 * /concert/gateway/hub_whitelist: ['http://localhos...
 * /concert/gateway/name: alien-wired
 * /concert/gateway/network_interface: 
 * /concert/gateway/watch_loop_period: 2
 * /concert/hub/external_shutdown: True
 * /concert/hub/gateway_dead_timeout: 7200
 * /concert/hub/gateway_unavailable_timeout: 60
 * /concert/hub/max_memory: 10mb
 * /concert/hub/name: alien-wired
 * /concert/hub/port: 6380
 * /concert/hub/watcher_thread_rate: 0.2
 * /concert/hub/zeroconf: True
 * /concert/icon: rocon_icons/rocon...
 * /concert/interactions/rosbridge_address: 192.168.10.23
 * /concert/interactions/rosbridge_port: 9090
 * /concert/interactions/webserver_address: webapp.robotconce...
 * /concert/name: alien-wired
 * /concert/scheduler/enable_preemptions: False
 * /concert/services/concert_name: alien-wired
 * /concert/services/default_auto_enable_services: ['admin', 'p2p_de...
 * /concert/services/disable_cache: True
 * /concert/services/services: demo_concert/demo...
 * /concert/zeroconf/zeroconf/services: [{'port': 11311, ...
 * /rosbridge_websocket/address: 192.168.10.23
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/port: 9090
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /concert/zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
  /concert/
    concert_conductor_graph_to_string (concert_utilities/conductor_graph_to_string.py)
    conductor (concert_conductor/conductor.py)
    gateway (rocon_gateway/gateway.py)
    hub (rocon_hub/hub.py)
    interactions (rocon_interactions/interactions_manager.py)
    master (rocon_master_info/master.py)
    rocon_tf_reconstructor (rocon_tf_reconstructor/rocon_tf_reconstructor)
    scheduler (concert_schedulers/compatibility_tree_scheduler.py)
    services (concert_service_manager/service_manager)
    software (concert_software_farmer/software_farmer.py)

auto-starting new master
process[master]: started with pid [3532]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 23c6b510-6194-11e5-86cc-ecf4bb55db1e
process[rosout-1]: started with pid [3545]
started core service [/rosout]
process[concert/master-2]: started with pid [3562]
process[concert/services-3]: started with pid [3571]
process[concert/software-4]: started with pid [3590]
process[concert/conductor-5]: started with pid [3618]
process[concert/concert_conductor_graph_to_string-6]: started with pid [3661]
process[concert/scheduler-7]: started with pid [3707]
process[concert/interactions-8]: started with pid [3751]
[INFO] [WallTime: 1442972462.028738] Software Farm : ===== Available Softwares =====
[INFO] [WallTime: 1442972462.029143] Software Farm : - concert_software_common/web_video_server : Streams video via http
[INFO] [WallTime: 1442972462.029395] Software Farm : - concert_software_common/world_canvas_server : World canvas server
[INFO] [WallTime: 1442972462.029629] Software Farm : - concert_workflow_engine_blockly/workflow_engine_blockly : Execution workflows composed by blockly
[INFO] [WallTime: 1442972462.037033] scheduler request topic: ~requests
process[concert/hub-9]: started with pid [3829]
[INFO] [WallTime: 1442972462.243727] Service Manager : load service profile from default configuration
process[concert/gateway-10]: started with pid [3904]
[INFO] [WallTime: 1442972462.414312] Hub : version 2.8.4
process[concert/zeroconf/zeroconf-11]: started with pid [3931]
[INFO] [WallTime: 1442972462.571410] Hub : reset hub variables on the redis server.
[INFO] [WallTime: 1442972462.581777] Hub : advertising 'alien-wired' on zeroconf [_ros-multimaster-hub._tcp, port 6380]
[INFO] [WallTime: 1442972462.638018] Gateway : generated unique hash name [alien-wired9bf5af7b699e42f38405f260fed3b96e]
[INFO] [WallTime: 1442972462.648609] Gateway : checking if zeroconf services are available...
[ INFO] [1442972462.653319713]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1442972462.662087954]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1442972462.662723] Gateway : discovered hub directly [http://localhost:6380]
process[rosbridge_websocket-12]: started with pid [4001]
[INFO] [WallTime: 1442972462.804961] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1442972462.805667] Gateway : registering on the hub [alien-wired]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[INFO] [WallTime: 1442972462.899912] {'auto_invite': True, 'oblivion_timeout': 3600, 'service_timeout': 5.0, 'groups': {'groups': {}, 'state': True, 'name': 'Default', 'parent': 0, 'parameters': {'auto_invite': True, 'oblivion_timeout': 3600, 'service_timeout': 5.0, 'local_clients_only': False}, 'type': '', 'id': 0}, 'local_clients_only': False}
process[rosapi-13]: started with pid [4047]
Found the conductor, setting up subscribers inside /concert/conductor
[INFO] [WallTime: 1442972463.001041] Rosbridge WebSocket server started on port 9090
process[concert/rocon_tf_reconstructor-14]: started with pid [4082]
[ INFO] [1442972463.126739485]: Initialized
[ INFO] [1442972463.126811701]: In Spin!
[ INFO] [1442972463.162352881]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
[ INFO] [1442972463.162673912]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[WARN] [WallTime: 1442972463.310608] Gateway : failed to register gateway with the hub [192.168.10.32:6380][15][hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][['http://localhost:6380']]]
[INFO] [WallTime: 1442972463.311000] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][['http://localhost:6380']]]
[INFO] [WallTime: 1442972463.337236] Rosapi started
[ INFO] [1442972463.359790863]: Zeroconf: service successfully established [alien-wired][_concert-master._tcp][11311]
Established under name 'alien-wired'
[INFO] [WallTime: 1442972463.841703] Conductor Graph To String : Initialised
[ INFO] [1442972463.881370142]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1442972464.314152] Gateway : blacklisting hub [already connected to this hub]
[INFO] [WallTime: 1442972466.238895] Service Manager : serving request to enable 'admin'
[INFO] [WallTime: 1442972467.478342] Interactions : loading Gateway Graph [rocon_gateway_graph-Admin-/services/admin]
[INFO] [WallTime: 1442972467.478683] Interactions : loading Conductor Graph [concert_conductor_graph-Admin-/services/admin]
[INFO] [WallTime: 1442972467.478878] Interactions : loading Ros Graph [rqt_graph-Admin-/services/admin]
[INFO] [WallTime: 1442972467.479033] Interactions : loading Concert Info [concert_info-Admin-/services/admin]
[INFO] [WallTime: 1442972467.479184] Interactions : loading Concert Service Administration [concert_admin_app-Admin-/services/admin]
[INFO] [WallTime: 1442972467.479330] Interactions : loading Concert Conductor Graph [web_app(http://webapp.robotconcert.org/concert_conductor_graph_web/index.html)-Admin-/services/admin]
[INFO] [WallTime: 1442972467.479658] Service Manager : service enabled [admin] [admin]
[INFO] [WallTime: 1442972467.479957] Service Manager : serving request to enable 'p2p_delivery'
started roslaunch server http://192.168.10.23:40763/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /services/p2p_delivery/
    publish_world (concert_common_services/publish_world.py)
    workflow_handler_blockly (concert_workflow_handler_blockly/workflow_handler.py)

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[services/p2p_delivery/publish_world-1]: started with pid [4210]
process[services/p2p_delivery/workflow_handler_blockly-2]: started with pid [4220]
[INFO] [WallTime: 1442972468.573158] Interactions : loading P2P Delivery Monitoring [web_app(http://webapp.robotconcert.org/concert_delivery_monitor/index.html)-Manager-/services/p2p_delivery]
[INFO] [WallTime: 1442972468.573707] Service Manager : service enabled [p2p_delivery] [p2p_delivery]
[INFO] [WallTime: 1442972468.577237] Software Farm : User[/services/p2p_delivery/workflow_handler_blockly] requested to use concert_workflow_engine_blockly/workflow_engine_blockly
started roslaunch server http://192.168.10.23:53278/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /software/workflow_engine_blockly/rosbridge_websocket/address: localhost
 * /software/workflow_engine_blockly/rosbridge_websocket/authenticate: False
 * /software/workflow_engine_blockly/rosbridge_websocket/port: 9091

NODES
  /software/workflow_engine_blockly/
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
    workflow_engine_blockly (concert_workflow_engine_blockly/concert_workflow_engine_blockly.js)

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[software/workflow_engine_blockly/rosbridge_websocket-1]: started with pid [4702]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
process[software/workflow_engine_blockly/rosapi-2]: started with pid [4709]
[INFO] [WallTime: 1442972469.709966] Rosbridge WebSocket server started on port 9091
process[software/workflow_engine_blockly/workflow_engine_blockly-3]: started with pid [4755]
[INFO] [WallTime: 1442972470.012872] Software Farm : True['']
[INFO] [WallTime: 1442972470.013068] Software Farm : User[/services/p2p_delivery/publish_world] requested to use concert_software_common/world_canvas_server
/home/yujin/ros/headoffice_concert/src/concert_workflow_engine/concert_workflow_handler_blockly/src/concert_workflow_handler_blockly/workflow_handler_blockly.py:37: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.enable_workflows = rospy.Publisher(self.namespace + 'enable_workflows', EnableWorkflows, latch=True)
[INFO] [WallTime: 1442972470.043225] Rosapi started
started roslaunch server http://192.168.10.23:54564/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /software/world_canvas/
    world_canvas_server (world_canvas_server/world_canvas_server)

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
[INFO] [WallTime: 1442972470.383025] Blockly Workflow Handler : enable workflow [service name: p2p_delivery]
process[software/world_canvas/world_canvas_server-4]: started with pid [4814]
[INFO] [WallTime: 1442972470.503518] Software Farm : True['']
[INFO] [WallTime: 1442972470.504353] Publish World : world canvas namespace : /software/world_canvas
[INFO] [WallTime: 1442972470.506908] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442972470.507175] Waiting for 'get_annotations' service...
info:  
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/23c6b510-6194-11e5-86cc-ecf4bb55db1e/software-workflow_engine_blockly-workflow_engine_blockly-3.log' ],
  port: 9999,
  rosbridge_port: 9091,
  rosbridge_address: 'localhost',
  action_delay: 2000,
  publish_delay: 200,
  topic_wait_timeout: 600000,
  log_level: 'info',
  ros: { retries: 0, retry_interval: 3000 } }
info: publish loop started
info: Listening on port 9999 (undefined)
info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1442972470.736925] Client connected.  1 clients total.
info: ros connected
[INFO] [WallTime: 1442972470.769937] Annotations server : initialized.
[INFO] [WallTime: 1442972470.812196] 1 annotations loaded
[INFO] [WallTime: 1442972470.812685] 1 annotations found
[INFO] [WallTime: 1442972470.813024] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442972470.814285] Loading data for the 1 retrieved annotations
[INFO] [WallTime: 1442972470.817446] 1 objects found for 1 annotations
[INFO] [WallTime: 1442972470.818303] 1 annotations data retrieved
[INFO] [WallTime: 1442972470.829588] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442972470.829973] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442972470.836916] 10 annotations loaded
[INFO] [WallTime: 1442972470.837643] 10 annotations found
[INFO] [WallTime: 1442972470.837962] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442972470.839155] Loading data for the 10 retrieved annotations
[INFO] [WallTime: 1442972470.843960] 10 objects found for 10 annotations
[INFO] [WallTime: 1442972470.844299] 10 annotations data retrieved
[INFO] [WallTime: 1442972470.856394] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442972470.856732] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442972470.860377] 2 annotations loaded
[INFO] [WallTime: 1442972470.860880] 2 annotations found
[INFO] [WallTime: 1442972470.861113] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442972470.862417] Loading data for the 2 retrieved annotations
[INFO] [WallTime: 1442972470.864899] 2 objects found for 2 annotations
[INFO] [WallTime: 1442972470.865244] 2 annotations data retrieved
[INFO] [WallTime: 1442972470.868595] Done
[INFO] [WallTime: 1442972470.921341] Conductor : new client discovered [young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972470.923469] Gateway : added pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/platform_info,service)]
[INFO] [WallTime: 1442972470.923942] Gateway : added pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/list_rapps,service)]
[INFO] [WallTime: 1442972470.924179] Gateway : added pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/invite,service)]
[INFO] [WallTime: 1442972470.924408] Gateway : added pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/status,publisher)]
[INFO] [WallTime: 1442972470.963500] Gateway : pulling in connection [publisher][/young27ba90d98e9b404ba43f5e9d4d12f39e/status][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972470.964955] Gateway : pulling in connection [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/platform_info][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972470.971135] Gateway : pulling in connection [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/invite][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972470.978217] Gateway : pulling in connection [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/list_rapps][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972471.934763] Conductor : concert client transition [pending->uninvited][young]
[INFO] [WallTime: 1442972471.935249] Gateway : removed pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:/young27ba90d98e9b404ba43f5e9d4d12f39e/platform_info]
[INFO] [WallTime: 1442972471.935593] Gateway : removed pull rule [young27ba90d98e9b404ba43f5e9d4d12f39e:/young27ba90d98e9b404ba43f5e9d4d12f39e/list_rapps]
[INFO] [WallTime: 1442972472.010450] Gateway : abandoning pulled connection [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/platform_info][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972472.011815] Gateway : abandoning pulled connection [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/list_rapps][/app_manager][young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972472.947612] Conductor : concert client transition [uninvited->joining][young]
[INFO] [WallTime: 1442972473.446545] Client connected.  1 clients total.
[INFO] [WallTime: 1442972473.608551] [Client 0] Subscribed to /concert/conductor/graph_string
[INFO] [WallTime: 1442972473.920493] [Client 0] Subscribed to /concert/scheduler/resource_pool
[INFO] [WallTime: 1442972473.926335] [Client 0] Subscribed to enable_workflows
info: engine options 
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/23c6b510-6194-11e5-86cc-ecf4bb55db1e/software-workflow_engine_blockly-workflow_engine_blockly-3.log' ],
  port: 9999,
  rosbridge_port: 9091,
  rosbridge_address: 'localhost',
  action_delay: 2000,
  publish_delay: 200,
  topic_wait_timeout: 600000,
  log_level: 'info',
  ros: { retries: 0, retry_interval: 3000 } }
info: engine spawn pid : 4977
[INFO] [WallTime: 1442972474.046707] Gateway : received a flip request [young27ba90d98e9b404ba43f5e9d4d12f39e][service][/young27ba90d98e9b404ba43f5e9d4d12f39e/stop_rapp][/app_manager]
[INFO] [WallTime: 1442972474.054030] Gateway : received a flip request [young27ba90d98e9b404ba43f5e9d4d12f39e][service][/young27ba90d98e9b404ba43f5e9d4d12f39e/start_rapp][/app_manager]
[INFO] [WallTime: 1442972474.254423] Conductor : concert client transition [joining->available][young]
[INFO] [WallTime: 1442972474.256150] Scheduler : new concert client [young]
[ INFO] [1442972474.327204427]: Create Subscriber for : young   Topic : /young/robot_pose
info: engine-4977 info: pid 4977
info: engine-4977 info: publish loop started
info: engine-4977 info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1442972474.470285] Client connected.  2 clients total.
info: engine-4977 info: ros connected
info: engine status to started
[INFO] [WallTime: 1442972475.431160] Client connected.  2 clients total.
[INFO] [WallTime: 1442972475.448791] [Client 1] Subscribed to pickup_order_list
[INFO] [WallTime: 1442972475.452745] [Client 1] Subscribed to vm_order_list
[INFO] [WallTime: 1442972475.462876] [Client 1] Subscribed to /map
[INFO] [WallTime: 1442972475.666470] [Client 1] Subscribed to /annotation/tables
[INFO] [WallTime: 1442972475.673925] [Client 1] Subscribed to /annotation/ar_markers
[INFO] [WallTime: 1442972475.678928] [Client 1] Subscribed to /adams/robot_pose
[INFO] [WallTime: 1442972475.683124] [Client 1] Subscribed to /zach/robot_pose
[INFO] [WallTime: 1442972475.688111] [Client 1] Subscribed to /young/robot_pose
[INFO] [WallTime: 1442972475.693028] [Client 1] Subscribed to /adams/robot_status
[INFO] [WallTime: 1442972475.697385] [Client 1] Subscribed to /zach/robot_status
[INFO] [WallTime: 1442972475.701700] [Client 1] Subscribed to /young/robot_status
[INFO] [WallTime: 1442972475.704893] [Client 1] Unsubscribed from /map
info: engine status to ready
info: engine status to running
info: engine-4977 Wed Sep 23 2015 10:41:17 GMT+0900 (KST) - Rocon Authoring :"Start P2P delivery service"
info: engine-4977 info: scripts evaluated.
[INFO] [WallTime: 1442972477.505295] [Client 1] Subscribed to /p2p_delivery_order
info: engine-4977 Wed Sep 23 2015 10:41:28 GMT+0900 (KST) - Rocon Authoring :"[p2p_delivery_order id] 0[from] sw_team[to] svc_team"
[INFO] [WallTime: 1442972488.511938] [Client 0] Subscribed to /concert/scheduler/requests_52d5bbaf7520421d9298beb62674fa9b
[INFO] [WallTime: 1442972488.883440] requester feedback topic: ~requests_52d5bbaf7520421d9298beb62674fa9b
Compatibility Tree
  rocon:/ : ['young']
  Pruning...
    rocon:/ : ['young']
    Pruning Resolvable Branches
      rocon:/ : ['young']
  Pruned Tree
    rocon:/ : ['young']
[INFO] [WallTime: 1442972489.351809] Scheduler : compatibility tree is valid, attempting to allocate [49d67b17-7a49-48de-91d7-c98b119aad3e]
[INFO] [WallTime: 1442972492.845558] Scheduler :   allocated [young]
[INFO] [WallTime: 1442972494.493429] Gateway : received a flip request [young27ba90d98e9b404ba43f5e9d4d12f39e][publisher][/young/robot_pose][/young/robot_pose_publisher]
[INFO] [WallTime: 1442972494.494993] Gateway : received a flip request [young27ba90d98e9b404ba43f5e9d4d12f39e][subscriber][/map][/young/move_base]
info: engine-4977 Wed Sep 23 2015 10:41:36 GMT+0900 (KST) - Rocon Authoring :"Resource allocation succeeded for P2P delivery"
info: engine-4977 topic count check :  0/5 []

client (young) log

yujin@alien-wired:~/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts$ export ROS_MASTER_URI="http://localhost:11315"
yujin@alien-wired:~/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts$ roslaunch demo_concert demo_backend.launch --screen concert_client_name:=young is_simulation:=true
... logging to /home/yujin/.ros/log/27d36900-6194-11e5-babe-ecf4bb55db1e/roslaunch-alien-wired-4144.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://192.168.10.23:37954/

SUMMARY
========

PARAMETERS
 * /app_manager/auto_rapp_installation: False
 * /app_manager/auto_start_rapp: False
 * /app_manager/capability_server_name: capability_server
 * /app_manager/local_remote_controllers_only: False
 * /app_manager/rapp_package_blacklist: []
 * /app_manager/rapp_package_whitelist: ['rocon_apps', 'c...
 * /app_manager/robot_icon: rocon_icons/cyber...
 * /app_manager/robot_name: young
 * /app_manager/robot_type: pc
 * /app_manager/screen: True
 * /app_manager/simulation: False
 * /app_manager/use_gateway_uuids: True
 * /description: To err is human, ...
 * /gateway/default_advertisements: [{'node': '.*app_...
 * /gateway/default_blacklist: [{'node': 'None',...
 * /gateway/default_flips: [{'gateway': 'Pub...
 * /gateway/disable_uuids: False
 * /gateway/disable_zeroconf: False
 * /gateway/firewall: False
 * /gateway/hub_uri: 
 * /gateway/hub_whitelist: alien-wired
 * /gateway/name: young
 * /gateway/network_interface: 
 * /gateway/watch_loop_period: 1
 * /icon: rocon_icons/cyber...
 * /name: young
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    app_manager (rocon_app_manager/rapp_manager.py)
    gateway (rocon_gateway/gateway.py)
    master (rocon_master_info/master.py)

auto-starting new master
process[master]: started with pid [4202]
ROS_MASTER_URI=http://localhost:11315

setting /run_id to 27d36900-6194-11e5-babe-ecf4bb55db1e
process[rosout-1]: started with pid [4224]
started core service [/rosout]
process[gateway-2]: started with pid [4346]
process[app_manager-3]: started with pid [4570]
[INFO] [WallTime: 1442972468.750200] Gateway : generated unique hash name [young27ba90d98e9b404ba43f5e9d4d12f39e]
[INFO] [WallTime: 1442972468.752340] Gateway : adding rule to public watchlist [publisher][.*status][.*app_manager]
[INFO] [WallTime: 1442972468.752561] Gateway : adding rule to public watchlist [service][.*platform_info][.*app_manager]
[INFO] [WallTime: 1442972468.752710] Gateway : adding rule to public watchlist [service][.*invite][.*app_manager]
[INFO] [WallTime: 1442972468.752851] Gateway : adding rule to public watchlist [service][.*list_rapps][.*app_manager]
[INFO] [WallTime: 1442972468.752991] Gateway : adding rule to public watchlist [service][.*get_status][.*app_manager]
[INFO] [WallTime: 1442972468.770092] Gateway : checking if zeroconf services are available...
process[master-4]: started with pid [4613]
process[zeroconf/zeroconf-5]: started with pid [4648]
[INFO] [WallTime: 1442972469.178098] Rapp Manager : indexing rapps...
[ INFO] [1442972469.376301182]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1442972469.376486389]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[ INFO] [1442972469.376861542]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1442972469.730674] Rapp Manager : determining runnable rapps...
[INFO] [WallTime: 1442972469.795255] Rapp Manager : disabling apps requiring capabilities [Couldn't find capability server node. Error: Node 'capability_server' not found.]
[WARN] [WallTime: 1442972469.795590] Rapp Manager : 'concert_demo_rapps/notice_nao' is incompatible [rocon:/aldebaran_nao][rocon:/pc/young/indigo/trusty]
[INFO] [WallTime: 1442972469.795777] Rapp Manager : 'concert_demo_sim_rapps/drink_giver_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.795922] Rapp Manager : 'concert_demo_sim_rapps/pickup_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796093] Rapp Manager : 'rocon_ninjablock_rapps/room_checker_ninjablock' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796251] Rapp Manager : 'rocon_apps/meow_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796405] Rapp Manager : 'rocon_hue/hue_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796558] Rapp Manager : 'concert_demo_sim_rapps/p2p_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796714] Rapp Manager : 'concert_demo_sim_rapps/vm_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.796864] Rapp Manager : 'robosem_bridge/robosem_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.797018] Rapp Manager : 'rocon_apps/moo_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.797171] Rapp Manager : 'rocon_apps/angry_cat_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.797322] Rapp Manager : 'rocon_apps/talker' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.797477] Rapp Manager : 'rocon_apps/listener' added to the list of runnable apps.
[INFO] [WallTime: 1442972469.797626] Rapp Manager : 'rocon_apps/lion_chirp' added to the list of runnable apps.
[WARN] [WallTime: 1442972469.797833] Rapp Manager : 'rocon_apps/chirp' is not unique and has no preferred rapp. rocon_apps/meow_chirp' has been selected.
[INFO] [WallTime: 1442972469.800949] Rapp Manager : initialised.
[ INFO] [1442972469.877044998]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1442972469.966687] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1442972469.967832] Gateway : registering on the hub [alien-wired]
[INFO] [WallTime: 1442972469.970215] Gateway : discovered hub via zeroconf [localhost:6380]
[INFO] [WallTime: 1442972470.193283] Gateway : adding connection to public interface [publisher][/young27ba90d98e9b404ba43f5e9d4d12f39e/status][/app_manager]
[INFO] [WallTime: 1442972470.193749] Gateway : adding connection to public interface [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/list_rapps][/app_manager]
[INFO] [WallTime: 1442972470.194067] Gateway : adding connection to public interface [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/invite][/app_manager]
[INFO] [WallTime: 1442972470.194338] Gateway : adding connection to public interface [service][/young27ba90d98e9b404ba43f5e9d4d12f39e/platform_info][/app_manager]
[ INFO] [1442972470.377271631]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
[INFO] [WallTime: 1442972470.472347] Gateway : blacklisting hub [already connected to this hub]
[WARN] [WallTime: 1442972470.474549] Gateway : failed to register gateway with the hub [192.168.10.32:6380][15][hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][alien-wired]]
[INFO] [WallTime: 1442972470.474876] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][alien-wired]]
[INFO] [WallTime: 1442972472.945644] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/start_rapp,service)]
[INFO] [WallTime: 1442972472.945975] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/young27ba90d98e9b404ba43f5e9d4d12f39e/stop_rapp,service)]
[INFO] [WallTime: 1442972472.946750] Rapp Manager : successfully flipped [['/young27ba90d98e9b404ba43f5e9d4d12f39e/start_rapp', '/young27ba90d98e9b404ba43f5e9d4d12f39e/stop_rapp']]
[INFO] [WallTime: 1442972472.947051] Rapp Manager : accepting invitation to be remote controlled [alien-wired9bf5af7b699e42f38405f260fed3b96e]
[INFO] [WallTime: 1442972473.018636] Gateway : sending flip request [alien-wired9bf5af7b699e42f38405f260fed3b96e][service][/young27ba90d98e9b404ba43f5e9d4d12f39e/stop_rapp][/app_manager,http://192.168.10.23:45886/]
[INFO] [WallTime: 1442972473.020764] Gateway : sending flip request [alien-wired9bf5af7b699e42f38405f260fed3b96e][service][/young27ba90d98e9b404ba43f5e9d4d12f39e/start_rapp][/app_manager,http://192.168.10.23:45886/]
[INFO] [WallTime: 1442972489.354530] Rapp Manager : request received to start rapp [concert_demo_rapps/p2p_delivery]
[INFO] [WallTime: 1442972489.354872] Rapp Manager : starting app 'concert_demo_rapps/p2p_delivery' underneath young
started roslaunch server http://192.168.10.23:39033/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /young/diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /young/diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /young/diagnostic_aggregator/analyzers/input_ports/remove_prefix: kobuki
 * /young/diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /young/diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /young/diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /young/diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /young/diagnostic_aggregator/analyzers/kobuki/remove_prefix: kobuki
 * /young/diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /young/diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /young/diagnostic_aggregator/analyzers/power/contains: ['Battery']
 * /young/diagnostic_aggregator/analyzers/power/path: Power System
 * /young/diagnostic_aggregator/analyzers/power/remove_prefix: kobuki
 * /young/diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /young/diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /young/diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /young/diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /young/diagnostic_aggregator/analyzers/sensors/remove_prefix: kobuki
 * /young/diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /young/diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /young/diagnostic_aggregator/base_path: 
 * /young/diagnostic_aggregator/pub_rate: 1.0
 * /young/fake_localization/delta_x: -23.938
 * /young/fake_localization/delta_y: -11.841
 * /young/fake_localization/delta_yaw: -0.008
 * /young/mobile_base/base_frame: base_footprint
 * /young/mobile_base/battery_capacity: 16.5
 * /young/mobile_base/battery_dangerous: 13.2
 * /young/mobile_base/battery_low: 14.0
 * /young/mobile_base/cmd_vel_timeout: 0.6
 * /young/mobile_base/device_port: /dev/kobuki
 * /young/mobile_base/odom_frame: odom
 * /young/mobile_base/publish_tf: False
 * /young/mobile_base/wheel_left_joint_name: wheel_left_joint
 * /young/mobile_base/wheel_right_joint_name: wheel_right_joint
 * /young/move_base/DWAPlannerROS/acc_lim_theta: 2.0
 * /young/move_base/DWAPlannerROS/acc_lim_x: 1.0
 * /young/move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /young/move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /young/move_base/DWAPlannerROS/global_frame_id: odom
 * /young/move_base/DWAPlannerROS/goal_distance_bias: 24.0
 * /young/move_base/DWAPlannerROS/max_rot_vel: 5.0
 * /young/move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /young/move_base/DWAPlannerROS/max_trans_vel: 0.5
 * /young/move_base/DWAPlannerROS/max_vel_x: 0.5
 * /young/move_base/DWAPlannerROS/max_vel_y: 0.0
 * /young/move_base/DWAPlannerROS/min_rot_vel: 0.4
 * /young/move_base/DWAPlannerROS/min_trans_vel: 0.1
 * /young/move_base/DWAPlannerROS/min_vel_x: 0.0
 * /young/move_base/DWAPlannerROS/min_vel_y: 0.0
 * /young/move_base/DWAPlannerROS/occdist_scale: 0.5
 * /young/move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /young/move_base/DWAPlannerROS/path_distance_bias: 64.0
 * /young/move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /young/move_base/DWAPlannerROS/publish_traj_pc: True
 * /young/move_base/DWAPlannerROS/rot_stopped_vel: 0.4
 * /young/move_base/DWAPlannerROS/scaling_speed: 0.25
 * /young/move_base/DWAPlannerROS/sim_time: 1.0
 * /young/move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /young/move_base/DWAPlannerROS/trans_stopped_vel: 0.1
 * /young/move_base/DWAPlannerROS/vtheta_samples: 20
 * /young/move_base/DWAPlannerROS/vx_samples: 6
 * /young/move_base/DWAPlannerROS/vy_samples: 1
 * /young/move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
 * /young/move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
 * /young/move_base/global_costmap/cost_scaling_factor: 5
 * /young/move_base/global_costmap/global_frame: /map
 * /young/move_base/global_costmap/inflation_radius: 0.5
 * /young/move_base/global_costmap/map_type: voxel
 * /young/move_base/global_costmap/max_obstacle_height: 0.6
 * /young/move_base/global_costmap/obstacle_range: 2.5
 * /young/move_base/global_costmap/origin_z: 0.0
 * /young/move_base/global_costmap/publish_frequency: 0.5
 * /young/move_base/global_costmap/publish_voxel_map: False
 * /young/move_base/global_costmap/raytrace_range: 3.0
 * /young/move_base/global_costmap/robot_base_frame: /base_footprint
 * /young/move_base/global_costmap/robot_radius: 0.2
 * /young/move_base/global_costmap/static_map: True
 * /young/move_base/global_costmap/transform_tolerance: 0.5
 * /young/move_base/global_costmap/update_frequency: 1.0
 * /young/move_base/global_costmap/z_resolution: 0.2
 * /young/move_base/global_costmap/z_voxels: 2
 * /young/move_base/local_costmap/cost_scaling_factor: 5
 * /young/move_base/local_costmap/global_frame: odom
 * /young/move_base/local_costmap/height: 4.0
 * /young/move_base/local_costmap/inflation_radius: 0.5
 * /young/move_base/local_costmap/map_type: voxel
 * /young/move_base/local_costmap/max_obstacle_height: 0.6
 * /young/move_base/local_costmap/obstacle_range: 2.5
 * /young/move_base/local_costmap/origin_z: 0.0
 * /young/move_base/local_costmap/publish_frequency: 2.0
 * /young/move_base/local_costmap/publish_voxel_map: False
 * /young/move_base/local_costmap/raytrace_range: 3.0
 * /young/move_base/local_costmap/resolution: 0.05
 * /young/move_base/local_costmap/robot_base_frame: /base_footprint
 * /young/move_base/local_costmap/robot_radius: 0.2
 * /young/move_base/local_costmap/rolling_window: True
 * /young/move_base/local_costmap/static_map: False
 * /young/move_base/local_costmap/transform_tolerance: 0.5
 * /young/move_base/local_costmap/update_frequency: 5.0
 * /young/move_base/local_costmap/width: 4.0
 * /young/move_base/local_costmap/z_resolution: 0.2
 * /young/move_base/local_costmap/z_voxels: 2
 * /young/robot_description: <?xml version="1....
 * /young/robot_pose_publisher/base_frame: base_footprint
 * /young/robot_pose_publisher/is_stamped: True
 * /young/robot_state_publisher/publish_frequency: 30.0
 * /young/robot_state_publisher/tf_prefix: 
 * /young/waiter_soft/volume: 80

NODES
  /young/
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    fake_localization (fake_localization/fake_localization)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    move_base (move_base/move_base)
    robot_pose_publisher (robot_pose_publisher/robot_pose_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    waiter_soft (concert_demo_sim_rapps/p2p_delivery_robot_soft.py)

ROS_MASTER_URI=http://localhost:11315
core service [/rosout] found
process[young/mobile_base_nodelet_manager-1]: started with pid [5230]
[ INFO] [1442972491.189817999]: Initializing nodelet with 8 worker threads.
process[young/mobile_base-2]: started with pid [5258]
[ INFO] [1442972491.320513212]: Loading nodelet /young/mobile_base of type kobuki_softnode/SoftKobukiNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1442972491.320561209]: /young/global_marker_list -> /annotation/ar_markers
[ INFO] [1442972491.320576658]: /young/location_list -> /annotation/tables
[ INFO] [1442972491.320591069]: /young/map -> /map
[ INFO] [1442972491.320601386]: /young/map_metadata -> /map_metadata
[ INFO] [1442972491.320615489]: /young/mobile_base/joint_states -> /young/joint_states
[ INFO] [1442972491.320627546]: /young/mobile_base/odom -> /young/odom
[ INFO] [1442972491.320640462]: /young/p2p_delivery_order -> /young/p2p_delivery_order
[ INFO] [1442972491.320653405]: /young/robot_pose -> /young/robot_pose
[ INFO] [1442972491.320665697]: /young/robot_status -> /young/robot_status
[ INFO] [1442972491.374759715]: Kobuki : initialised.
process[young/diagnostic_aggregator-3]: started with pid [5320]
process[young/robot_state_publisher-4]: started with pid [5394]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
process[young/fake_localization-5]: started with pid [5419]
process[young/move_base-6]: started with pid [5468]
process[young/robot_pose_publisher-7]: started with pid [5526]
process[young/waiter_soft-8]: started with pid [5560]
[INFO] [WallTime: 1442972492.337904] Rapp Manager : Remote Name [alien-wired9bf5af7b699e42f38405f260fed3b96e]
[INFO] [WallTime: 1442972492.561018] /young/waiter_soft
[INFO] [WallTime: 1442972492.562022] delivery robot sound volume: 80
[INFO] [WallTime: 1442972492.569303] /young/waiter_soft : Wait for movebase
[ INFO] [1442972492.818024860]: Loading from pre-hydro parameter style
[INFO] [WallTime: 1442972492.842052] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/young/robot_pose,publisher)]
[INFO] [WallTime: 1442972492.842475] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/young/robot_status,publisher)]
[INFO] [WallTime: 1442972492.842763] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/map,subscriber)]
[INFO] [WallTime: 1442972492.842988] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/map_metadata,subscriber)]
[INFO] [WallTime: 1442972492.843161] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/annotation/tables,subscriber)]
[INFO] [WallTime: 1442972492.843355] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/annotation/ar_markers,subscriber)]
[INFO] [WallTime: 1442972492.843509] Gateway : added flip rule [alien-wired9bf5af7b699e42f38405f260fed3b96e:(/young/p2p_delivery_order,action_server)]
[ INFO] [1442972492.843616041]: Using plugin "static_layer"
[INFO] [WallTime: 1442972492.844668] Rapp Manager : successfully flipped [[], ['/young/robot_pose', '/young/robot_status'], [], ['/map', '/map_metadata', '/annotation/tables', '/annotation/ar_markers'], ['/young/p2p_delivery_order']]
[ INFO] [1442972492.892501826]: Requesting the map...
[INFO] [WallTime: 1442972493.045727] Gateway : sending flip request [alien-wired9bf5af7b699e42f38405f260fed3b96e][subscriber][/map][/young/move_base,http://192.168.10.23:39999/]
[INFO] [WallTime: 1442972493.048985] Gateway : sending flip request [alien-wired9bf5af7b699e42f38405f260fed3b96e][publisher][/young/robot_pose][/young/robot_pose_publisher,http://192.168.10.23:51851/]
[ INFO] [1442972494.795672468]: Resizing costmap to 732 X 413 at 0.050000 m/pix
[ INFO] [1442972494.895565647]: Received a 732 X 413 map at 0.050000 m/pix
[ INFO] [1442972494.901423836]: Using plugin "obstacle_layer"
[ INFO] [1442972494.903737792]:     Subscribed to Topics: 
[ INFO] [1442972494.929913220]: Using plugin "inflation_layer"
[ INFO] [1442972495.030890319]: Loading from pre-hydro parameter style
[ INFO] [1442972495.053371040]: Using plugin "obstacle_layer"
[ INFO] [1442972495.093486315]:     Subscribed to Topics: 
[ INFO] [1442972495.114213968]: Using plugin "inflation_layer"
[ INFO] [1442972495.186843532]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1442972495.194090472]: Sim period is set to 0.05
[ WARN] [1442972495.197841237]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1442972495.388641728]: Recovery behavior will clear layer obstacles
[ INFO] [1442972495.432441727]: Recovery behavior will clear layer obstacles
[ INFO] [1442972495.462736014]: odom received!
Traceback (most recent call last):
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 161, in <module>
    waiter = P2PDeliveryRobot(rospy.get_name(), "p2p_delivery_order")
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 26, in __init__
    self.delivery_server = actionlib.SimpleActionServer(self.action_name, P2PDeliveryOrder, self.execute_callback, auto_start=False)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 94, in __init__
    self.action_server = ActionServer(name, ActionSpec, self.internal_goal_callback,self.internal_preempt_callback,auto_start);
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/action_server.py", line 88, in __init__
    raise ActionException("Type is not an action spec: %s" % str(ActionSpec))
actionlib.exceptions.ActionException: Type is not an action spec: <class 'simple_delivery_msgs.msg._P2PDeliveryOrder.P2PDeliveryOrder'>
hughie commented 8 years ago

P2PDeliveryOrder msg와 action 이름이 중복되어 msg를 P2PDeliveryOrder4UI로 변경 https://github.com/robotics-in-concert/rocon_demo_msgs/commit/573563445d581a43b26955d20549aa8a6ad086f9