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robotics-in-concert / rocon_demos

Demo software for rocon milestones.
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P2Pdelivery service] waiterbot(sim) is not moving #68

Closed hughie closed 8 years ago

hughie commented 8 years ago

Master실행, Client(Sim) 실행 후 p2p_delivery_order message를 rostopic pub으로 전송

yujin@alien-wired:~/ros/headoffice_concert$ rostopic pub /p2p_delivery_order simple_delivery_msgs/P2PDeliveryOrder4UI "id: 0
from_: 'sw_team'
to: 'svc_team'
message: 'helo'" --once

전송 후 young이 정상적으로 할당되고 monitoring도구에 나타나지만 이후에 움직임이 없음. p2p_delivery_robot_soft.py은 실행되고 /young/waiter_soft : Waiting for locations and global markers 메시지를 출력함.

[INFO] [WallTime: 1442992859.931540] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][action_server][/young/p2p_delivery_order][/young/waiter_soft,http://192.168.10.23:34943/]

위와 같이 action server의 flip request에 문제가 생긴 것으로 생각되어 관련 부분을 살펴볼 예정.

Master Log

yujin@alien-wired:~/ros/headoffice_concert/src/rocon_service_packages/concert_common_test_services/services$ roslaunch demo_concert concert.launch --screen
... logging to /home/yujin/.ros/log/8c70e4c6-61c3-11e5-9956-ecf4bb55db1e/roslaunch-alien-wired-3299.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://192.168.10.23:38317/

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 [3311]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c70e4c6-61c3-11e5-9956-ecf4bb55db1e
process[rosout-1]: started with pid [3324]
started core service [/rosout]
process[concert/master-2]: started with pid [3341]
process[concert/services-3]: started with pid [3348]
process[concert/software-4]: started with pid [3365]
process[concert/conductor-5]: started with pid [3395]
process[concert/concert_conductor_graph_to_string-6]: started with pid [3426]
process[concert/scheduler-7]: started with pid [3472]
process[concert/interactions-8]: started with pid [3520]
[INFO] [WallTime: 1442992823.753963] Software Farm : ===== Available Softwares =====
[INFO] [WallTime: 1442992823.754311] Software Farm : - concert_software_common/web_video_server : Streams video via http
[INFO] [WallTime: 1442992823.754530] Software Farm : - concert_software_common/world_canvas_server : World canvas server
[INFO] [WallTime: 1442992823.754719] Software Farm : - concert_workflow_engine_blockly/workflow_engine_blockly : Execution workflows composed by blockly
[INFO] [WallTime: 1442992823.779169] scheduler request topic: ~requests
process[concert/hub-9]: started with pid [3598]
[INFO] [WallTime: 1442992823.973790] Service Manager : load service profile from default configuration
process[concert/gateway-10]: started with pid [3672]
[INFO] [WallTime: 1442992824.119290] Hub : version 2.8.4
process[concert/zeroconf/zeroconf-11]: started with pid [3699]
[INFO] [WallTime: 1442992824.261631] Hub : reset hub variables on the redis server.
[INFO] [WallTime: 1442992824.271345] Hub : advertising 'alien-wired' on zeroconf [_ros-multimaster-hub._tcp, port 6380]
[INFO] [WallTime: 1442992824.290957] Gateway : generated unique hash name [alien-wired648913823b8f41eab087d068c3e1998a]
[INFO] [WallTime: 1442992824.302713] Gateway : checking if zeroconf services are available...
[ INFO] [1442992824.305492168]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1442992824.305842226]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1442992824.312935] Gateway : discovered hub directly [http://localhost:6380]
process[rosbridge_websocket-12]: started with pid [3770]
[INFO] [WallTime: 1442992824.407045] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1442992824.409221] 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
process[rosapi-13]: started with pid [3795]
[INFO] [WallTime: 1442992824.612058] {'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}
Found the conductor, setting up subscribers inside /concert/conductor
[INFO] [WallTime: 1442992824.634322] Rosbridge WebSocket server started on port 9090
process[concert/rocon_tf_reconstructor-14]: started with pid [3851]
[ INFO] [1442992824.732041928]: Initialized
[ INFO] [1442992824.732108259]: In Spin!
[ INFO] [1442992824.806036615]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
[ INFO] [1442992824.806468612]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[WARN] [WallTime: 1442992824.912587] 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: 1442992824.912902] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][['http://localhost:6380']]]
[INFO] [WallTime: 1442992824.931030] Rosapi started
[ INFO] [1442992825.031814795]: Zeroconf: service successfully established [alien-wired][_concert-master._tcp][11311]
Established under name 'alien-wired'
[ INFO] [1442992825.583425961]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1442992825.615441] Conductor Graph To String : Initialised
[INFO] [WallTime: 1442992825.915685] Gateway : blacklisting hub [already connected to this hub]
[INFO] [WallTime: 1442992827.716301] Service Manager : serving request to enable 'admin'
[INFO] [WallTime: 1442992828.872376] Interactions : loading Gateway Graph [rocon_gateway_graph-Admin-/services/admin]
[INFO] [WallTime: 1442992828.872659] Interactions : loading Conductor Graph [concert_conductor_graph-Admin-/services/admin]
[INFO] [WallTime: 1442992828.872841] Interactions : loading Ros Graph [rqt_graph-Admin-/services/admin]
[INFO] [WallTime: 1442992828.872979] Interactions : loading Concert Info [concert_info-Admin-/services/admin]
[INFO] [WallTime: 1442992828.873189] Interactions : loading Concert Service Administration [concert_admin_app-Admin-/services/admin]
[INFO] [WallTime: 1442992828.873351] Interactions : loading Concert Conductor Graph [web_app(http://webapp.robotconcert.org/concert_conductor_graph_web/index.html)-Admin-/services/admin]
[INFO] [WallTime: 1442992828.873716] Service Manager : service enabled [admin] [admin]
[INFO] [WallTime: 1442992828.874092] Service Manager : serving request to enable 'p2p_delivery'
started roslaunch server http://192.168.10.23:60870/

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 [4115]
process[services/p2p_delivery/workflow_handler_blockly-2]: started with pid [4124]
[INFO] [WallTime: 1442992829.868054] Interactions : loading P2P Delivery Monitoring [web_app(http://webapp.robotconcert.org/concert_delivery_monitor/index.html)-Manager-/services/p2p_delivery]
[INFO] [WallTime: 1442992829.868506] Service Manager : service enabled [p2p_delivery] [p2p_delivery]
[INFO] [WallTime: 1442992829.880870] Software Farm : User[/services/p2p_delivery/publish_world] requested to use concert_software_common/world_canvas_server
started roslaunch server http://192.168.10.23:35164/

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
process[software/world_canvas/world_canvas_server-1]: started with pid [4502]
[INFO] [WallTime: 1442992830.345462] Software Farm : True['']
[INFO] [WallTime: 1442992830.346056] Software Farm : User[/services/p2p_delivery/workflow_handler_blockly] requested to use concert_workflow_engine_blockly/workflow_engine_blockly
[INFO] [WallTime: 1442992830.346219] Publish World : world canvas namespace : /software/world_canvas
[INFO] [WallTime: 1442992830.352703] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442992830.353037] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442992830.588423] Annotations server : initialized.
[INFO] [WallTime: 1442992830.627401] Conductor : new client discovered [youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992830.628947] Gateway : added pull rule [youngc6ba3103d936442fa69c90233bad9128:(/youngc6ba3103d936442fa69c90233bad9128/platform_info,service)]
[INFO] [WallTime: 1442992830.629240] Gateway : added pull rule [youngc6ba3103d936442fa69c90233bad9128:(/youngc6ba3103d936442fa69c90233bad9128/list_rapps,service)]
[INFO] [WallTime: 1442992830.629426] Gateway : added pull rule [youngc6ba3103d936442fa69c90233bad9128:(/youngc6ba3103d936442fa69c90233bad9128/invite,service)]
[INFO] [WallTime: 1442992830.629606] Gateway : added pull rule [youngc6ba3103d936442fa69c90233bad9128:(/youngc6ba3103d936442fa69c90233bad9128/status,publisher)]
[INFO] [WallTime: 1442992830.657465] 1 annotations loaded
[INFO] [WallTime: 1442992830.657891] 1 annotations found
[INFO] [WallTime: 1442992830.658162] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442992830.659290] Loading data for the 1 retrieved annotations
[INFO] [WallTime: 1442992830.661871] 1 objects found for 1 annotations
[INFO] [WallTime: 1442992830.662660] 1 annotations data retrieved
[INFO] [WallTime: 1442992830.670447] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442992830.671077] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442992830.676366] 10 annotations loaded
[INFO] [WallTime: 1442992830.677002] 10 annotations found
[INFO] [WallTime: 1442992830.677265] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442992830.678493] Loading data for the 10 retrieved annotations
[INFO] [WallTime: 1442992830.682454] 10 objects found for 10 annotations
[INFO] [WallTime: 1442992830.682777] 10 annotations data retrieved
[INFO] [WallTime: 1442992830.693693] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1442992830.693982] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1442992830.696738] 2 annotations loaded
[INFO] [WallTime: 1442992830.697099] 2 annotations found
[INFO] [WallTime: 1442992830.697328] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1442992830.698382] Loading data for the 2 retrieved annotations
[INFO] [WallTime: 1442992830.702395] 2 objects found for 2 annotations
[INFO] [WallTime: 1442992830.702723] 2 annotations data retrieved
[INFO] [WallTime: 1442992830.705542] Done
[INFO] [WallTime: 1442992830.786797] Gateway : pulling in connection [publisher][/youngc6ba3103d936442fa69c90233bad9128/status][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992830.788209] Gateway : pulling in connection [service][/youngc6ba3103d936442fa69c90233bad9128/list_rapps][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992830.793642] Gateway : pulling in connection [service][/youngc6ba3103d936442fa69c90233bad9128/invite][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992830.799527] Gateway : pulling in connection [service][/youngc6ba3103d936442fa69c90233bad9128/platform_info][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
started roslaunch server http://192.168.10.23:58621/

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-2]: started with pid [4615]
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-3]: started with pid [4622]
[INFO] [WallTime: 1442992831.417312] Rosbridge WebSocket server started on port 9091
[INFO] [WallTime: 1442992831.638677] Conductor : concert client transition [pending->uninvited][young]
[INFO] [WallTime: 1442992831.639586] Gateway : removed pull rule [youngc6ba3103d936442fa69c90233bad9128:/youngc6ba3103d936442fa69c90233bad9128/platform_info]
[INFO] [WallTime: 1442992831.640426] Gateway : removed pull rule [youngc6ba3103d936442fa69c90233bad9128:/youngc6ba3103d936442fa69c90233bad9128/list_rapps]
process[software/workflow_engine_blockly/workflow_engine_blockly-4]: started with pid [4655]
[INFO] [WallTime: 1442992831.729062] Software Farm : True['']
/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: 1442992831.745141] Rosapi started
[INFO] [WallTime: 1442992831.857682] Gateway : abandoning pulled connection [service][/youngc6ba3103d936442fa69c90233bad9128/list_rapps][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992831.859222] Gateway : abandoning pulled connection [service][/youngc6ba3103d936442fa69c90233bad9128/platform_info][/app_manager][youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992832.097849] Blockly Workflow Handler : enable workflow [service name: p2p_delivery]
info:  
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/8c70e4c6-61c3-11e5-9956-ecf4bb55db1e/software-workflow_engine_blockly-workflow_engine_blockly-4.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: 1442992832.404343] Client connected.  1 clients total.
info: ros connected
[INFO] [WallTime: 1442992832.649751] Conductor : concert client transition [uninvited->joining][young]
[INFO] [WallTime: 1442992833.895613] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][service][/youngc6ba3103d936442fa69c90233bad9128/start_rapp][/app_manager]
[INFO] [WallTime: 1442992833.901833] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][service][/youngc6ba3103d936442fa69c90233bad9128/stop_rapp][/app_manager]
[INFO] [WallTime: 1442992833.956299] Conductor : concert client transition [joining->available][young]
[INFO] [WallTime: 1442992833.957843] Scheduler : new concert client [young]
[ INFO] [1442992834.032332337]: Create Subscriber for : young   Topic : /young/robot_pose
[INFO] [WallTime: 1442992835.592650] [Client 0] Subscribed to /concert/scheduler/resource_pool
[INFO] [WallTime: 1442992835.598319] [Client 0] Subscribed to enable_workflows
info: engine options 
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/8c70e4c6-61c3-11e5-9956-ecf4bb55db1e/software-workflow_engine_blockly-workflow_engine_blockly-4.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 : 4762
info: engine-4762 info: pid 4762
info: engine-4762 info: publish loop started
info: engine-4762 info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1442992836.109974] Client connected.  2 clients total.
info: engine-4762 info: ros connected
info: engine status to started
info: engine status to ready
info: engine status to running
info: engine-4762 Wed Sep 23 2015 16:20:39 GMT+0900 (KST) - Rocon Authoring :"Start P2P delivery service"
info: engine-4762 info: scripts evaluated.
[INFO] [WallTime: 1442992839.141324] [Client 1] Subscribed to /p2p_delivery_order
[INFO] [WallTime: 1442992839.752014] Client connected.  1 clients total.
[INFO] [WallTime: 1442992839.914258] [Client 0] Subscribed to /concert/conductor/graph_string
[INFO] [WallTime: 1442992842.203008] Client connected.  2 clients total.
[INFO] [WallTime: 1442992842.227773] [Client 1] Subscribed to pickup_order_list
[INFO] [WallTime: 1442992842.232996] [Client 1] Subscribed to vm_order_list
[INFO] [WallTime: 1442992842.242972] [Client 1] Subscribed to /map
[INFO] [WallTime: 1442992842.451878] [Client 1] Subscribed to /annotation/tables
[INFO] [WallTime: 1442992842.458661] [Client 1] Subscribed to /annotation/ar_markers
[INFO] [WallTime: 1442992842.466140] [Client 1] Subscribed to /adams/robot_pose
[INFO] [WallTime: 1442992842.470179] [Client 1] Subscribed to /zach/robot_pose
[INFO] [WallTime: 1442992842.474742] [Client 1] Subscribed to /young/robot_pose
[INFO] [WallTime: 1442992842.479140] [Client 1] Subscribed to /adams/robot_status
[INFO] [WallTime: 1442992842.483515] [Client 1] Subscribed to /zach/robot_status
[INFO] [WallTime: 1442992842.488427] [Client 1] Subscribed to /young/robot_status
[INFO] [WallTime: 1442992842.492576] [Client 1] Unsubscribed from /map
info: engine-4762 Wed Sep 23 2015 16:20:51 GMT+0900 (KST) - Rocon Authoring :"[p2p_delivery_order id] 0[from] sw_team[to] svc_team"
[INFO] [WallTime: 1442992851.242204] [Client 0] Subscribed to /concert/scheduler/requests_cfa64cff569b495b84909c8e844397e6
[INFO] [WallTime: 1442992851.711532] requester feedback topic: ~requests_cfa64cff569b495b84909c8e844397e6
Compatibility Tree
  rocon:/ : ['young']
  Pruning...
    rocon:/ : ['young']
    Pruning Resolvable Branches
      rocon:/ : ['young']
  Pruned Tree
    rocon:/ : ['young']
[INFO] [WallTime: 1442992852.027544] Scheduler : compatibility tree is valid, attempting to allocate [95df54df-078a-46bc-a466-41c66081dc52]
[INFO] [WallTime: 1442992855.669576] Scheduler :   allocated [young]
[INFO] [WallTime: 1442992856.353656] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][subscriber][/map][/young/move_base]
[INFO] [WallTime: 1442992856.355653] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][publisher][/young/robot_pose][/young/robot_pose_publisher]
[INFO] [WallTime: 1442992858.432899] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][subscriber][/annotation/ar_markers][/young/waiter_soft]
[INFO] [WallTime: 1442992858.435258] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][subscriber][/annotation/tables][/young/waiter_soft]
[INFO] [WallTime: 1442992858.437170] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][publisher][/young/robot_status][/young/waiter_soft]
info: engine-4762 Wed Sep 23 2015 16:20:59 GMT+0900 (KST) - Rocon Authoring :"Resource allocation succeeded for P2P delivery"
info: engine-4762 topic count check :  0/5 []
[INFO] [WallTime: 1442992860.547158] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][subscriber][/young/p2p_delivery_order/cancel][/young/waiter_soft]
[INFO] [WallTime: 1442992860.549346] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][publisher][/young/p2p_delivery_order/status][/young/waiter_soft]
[INFO] [WallTime: 1442992860.550345] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][subscriber][/young/p2p_delivery_order/goal][/young/waiter_soft]
[INFO] [WallTime: 1442992860.552033] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][publisher][/young/p2p_delivery_order/result][/young/waiter_soft]
[INFO] [WallTime: 1442992860.553122] Gateway : received a flip request [youngc6ba3103d936442fa69c90233bad9128][publisher][/young/p2p_delivery_order/feedback][/young/waiter_soft]

Client(Waiterbot simulation)

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/8fa1fba8-61c3-11e5-ac93-ecf4bb55db1e/roslaunch-alien-wired-3908.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://192.168.10.23:33839/

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 [3935]
ROS_MASTER_URI=http://localhost:11315

setting /run_id to 8fa1fba8-61c3-11e5-ac93-ecf4bb55db1e
process[rosout-1]: started with pid [3949]
started core service [/rosout]
process[gateway-2]: started with pid [3967]
process[app_manager-3]: started with pid [3974]
[INFO] [WallTime: 1442992828.953180] Gateway : generated unique hash name [youngc6ba3103d936442fa69c90233bad9128]
[INFO] [WallTime: 1442992828.954494] Gateway : adding rule to public watchlist [publisher][.*status][.*app_manager]
[INFO] [WallTime: 1442992828.954625] Gateway : adding rule to public watchlist [service][.*platform_info][.*app_manager]
[INFO] [WallTime: 1442992828.954715] Gateway : adding rule to public watchlist [service][.*invite][.*app_manager]
[INFO] [WallTime: 1442992828.954798] Gateway : adding rule to public watchlist [service][.*list_rapps][.*app_manager]
[INFO] [WallTime: 1442992828.954876] Gateway : adding rule to public watchlist [service][.*get_status][.*app_manager]
[INFO] [WallTime: 1442992828.965596] Gateway : checking if zeroconf services are available...
process[master-4]: started with pid [4033]
process[zeroconf/zeroconf-5]: started with pid [4077]
[ INFO] [1442992829.269894145]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1442992829.270193802]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[ INFO] [1442992829.270599029]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1442992829.324242] Rapp Manager : indexing rapps...
[ INFO] [1442992829.770818530]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1442992829.861899] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1442992829.864931] Gateway : registering on the hub [alien-wired]
[INFO] [WallTime: 1442992829.865694] Gateway : discovered hub via zeroconf [localhost:6380]
[INFO] [WallTime: 1442992829.910959] Rapp Manager : determining runnable rapps...
[INFO] [WallTime: 1442992829.961958] Rapp Manager : disabling apps requiring capabilities [Couldn't find capability server node. Error: Node 'capability_server' not found.]
[WARN] [WallTime: 1442992829.962273] Rapp Manager : 'concert_demo_rapps/notice_nao' is incompatible [rocon:/aldebaran_nao][rocon:/pc/young/indigo/trusty]
[INFO] [WallTime: 1442992829.962472] Rapp Manager : 'concert_demo_sim_rapps/drink_giver_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.962632] Rapp Manager : 'concert_demo_sim_rapps/pickup_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.962793] Rapp Manager : 'rocon_ninjablock_rapps/room_checker_ninjablock' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.962953] Rapp Manager : 'rocon_apps/meow_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963108] Rapp Manager : 'rocon_hue/hue_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963259] Rapp Manager : 'concert_demo_sim_rapps/p2p_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963403] Rapp Manager : 'concert_demo_sim_rapps/vm_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963552] Rapp Manager : 'robosem_bridge/robosem_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963703] Rapp Manager : 'rocon_apps/moo_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963851] Rapp Manager : 'rocon_apps/angry_cat_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.963999] Rapp Manager : 'rocon_apps/talker' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.964147] Rapp Manager : 'rocon_apps/listener' added to the list of runnable apps.
[INFO] [WallTime: 1442992829.964295] Rapp Manager : 'rocon_apps/lion_chirp' added to the list of runnable apps.
[WARN] [WallTime: 1442992829.964468] Rapp Manager : 'rocon_apps/chirp' is not unique and has no preferred rapp. rocon_apps/meow_chirp' has been selected.
[INFO] [WallTime: 1442992829.967013] Rapp Manager : initialised.
[INFO] [WallTime: 1442992830.079409] Gateway : adding connection to public interface [service][/youngc6ba3103d936442fa69c90233bad9128/platform_info][/app_manager]
[INFO] [WallTime: 1442992830.079737] Gateway : adding connection to public interface [service][/youngc6ba3103d936442fa69c90233bad9128/invite][/app_manager]
[INFO] [WallTime: 1442992830.080037] Gateway : adding connection to public interface [service][/youngc6ba3103d936442fa69c90233bad9128/list_rapps][/app_manager]
[INFO] [WallTime: 1442992830.086790] Gateway : adding connection to public interface [publisher][/youngc6ba3103d936442fa69c90233bad9128/status][/app_manager]
[ INFO] [1442992830.271076666]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
[INFO] [WallTime: 1442992830.367181] Gateway : blacklisting hub [already connected to this hub]
[WARN] [WallTime: 1442992830.369405] 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: 1442992830.369653] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][alien-wired]]
[INFO] [WallTime: 1442992832.647745] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/youngc6ba3103d936442fa69c90233bad9128/start_rapp,service)]
[INFO] [WallTime: 1442992832.648014] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/youngc6ba3103d936442fa69c90233bad9128/stop_rapp,service)]
[INFO] [WallTime: 1442992832.648852] Rapp Manager : successfully flipped [['/youngc6ba3103d936442fa69c90233bad9128/start_rapp', '/youngc6ba3103d936442fa69c90233bad9128/stop_rapp']]
[INFO] [WallTime: 1442992832.649169] Rapp Manager : accepting invitation to be remote controlled [alien-wired648913823b8f41eab087d068c3e1998a]
[INFO] [WallTime: 1442992832.708601] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][service][/youngc6ba3103d936442fa69c90233bad9128/stop_rapp][/app_manager,http://192.168.10.23:44740/]
[INFO] [WallTime: 1442992832.710829] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][service][/youngc6ba3103d936442fa69c90233bad9128/start_rapp][/app_manager,http://192.168.10.23:44740/]
[INFO] [WallTime: 1442992852.029338] Rapp Manager : request received to start rapp [concert_demo_rapps/p2p_delivery]
[INFO] [WallTime: 1442992852.029618] Rapp Manager : starting app 'concert_demo_rapps/p2p_delivery' underneath young
started roslaunch server http://192.168.10.23:58612/

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 [5011]
[ INFO] [1442992853.960746959]: Initializing nodelet with 8 worker threads.
process[young/mobile_base-2]: started with pid [5040]
[ INFO] [1442992854.093103229]: Loading nodelet /young/mobile_base of type kobuki_softnode/SoftKobukiNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1442992854.093166454]: /young/global_marker_list -> /annotation/ar_markers
[ INFO] [1442992854.093180841]: /young/location_list -> /annotation/tables
[ INFO] [1442992854.093192707]: /young/map -> /map
[ INFO] [1442992854.093203909]: /young/map_metadata -> /map_metadata
[ INFO] [1442992854.093214504]: /young/mobile_base/joint_states -> /young/joint_states
[ INFO] [1442992854.093225282]: /young/mobile_base/odom -> /young/odom
[ INFO] [1442992854.093235994]: /young/p2p_delivery_order -> /young/p2p_delivery_order
[ INFO] [1442992854.093246283]: /young/robot_pose -> /young/robot_pose
[ INFO] [1442992854.093256375]: /young/robot_status -> /young/robot_status
[ INFO] [1442992854.146329311]: Kobuki : initialised.
process[young/diagnostic_aggregator-3]: started with pid [5102]
process[young/robot_state_publisher-4]: started with pid [5178]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
process[young/fake_localization-5]: started with pid [5203]
process[young/move_base-6]: started with pid [5252]
process[young/robot_pose_publisher-7]: started with pid [5316]
process[young/waiter_soft-8]: started with pid [5350]
[INFO] [WallTime: 1442992855.161903] Rapp Manager : Remote Name [alien-wired648913823b8f41eab087d068c3e1998a]
[INFO] [WallTime: 1442992855.384945] /young/waiter_soft
[INFO] [WallTime: 1442992855.385928] delivery robot sound volume: 80
[INFO] [WallTime: 1442992855.393587] /young/waiter_soft : Wait for movebase
[ INFO] [1442992855.550890330]: Loading from pre-hydro parameter style
[ INFO] [1442992855.574430864]: Using plugin "static_layer"
[ INFO] [1442992855.618615282]: Requesting the map...
[INFO] [WallTime: 1442992855.666280] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/young/robot_pose,publisher)]
[INFO] [WallTime: 1442992855.666704] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/young/robot_status,publisher)]
[INFO] [WallTime: 1442992855.666977] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/map,subscriber)]
[INFO] [WallTime: 1442992855.667238] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/map_metadata,subscriber)]
[INFO] [WallTime: 1442992855.667488] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/annotation/tables,subscriber)]
[INFO] [WallTime: 1442992855.667748] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/annotation/ar_markers,subscriber)]
[INFO] [WallTime: 1442992855.667992] Gateway : added flip rule [alien-wired648913823b8f41eab087d068c3e1998a:(/young/p2p_delivery_order,action_server)]
[INFO] [WallTime: 1442992855.669076] Rapp Manager : successfully flipped [[], ['/young/robot_pose', '/young/robot_status'], [], ['/map', '/map_metadata', '/annotation/tables', '/annotation/ar_markers'], ['/young/p2p_delivery_order']]
[INFO] [WallTime: 1442992855.769654] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][subscriber][/map][/young/move_base,http://192.168.10.23:55165/]
[INFO] [WallTime: 1442992855.772233] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][publisher][/young/robot_pose][/young/robot_pose_publisher,http://192.168.10.23:49019/]
[ INFO] [1442992856.621883111]: Resizing costmap to 732 X 413 at 0.050000 m/pix
[ INFO] [1442992856.721764394]: Received a 732 X 413 map at 0.050000 m/pix
[ INFO] [1442992856.725761212]: Using plugin "obstacle_layer"
[ INFO] [1442992856.727072904]:     Subscribed to Topics: 
[ INFO] [1442992856.748119698]: Using plugin "inflation_layer"
[ INFO] [1442992856.851526202]: Loading from pre-hydro parameter style
[ INFO] [1442992856.874500715]: Using plugin "obstacle_layer"
[ INFO] [1442992856.914342420]:     Subscribed to Topics: 
[ INFO] [1442992856.937359687]: Using plugin "inflation_layer"
[ INFO] [1442992857.009298508]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1442992857.016867323]: Sim period is set to 0.05
[ WARN] [1442992857.020904919]: 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] [1442992857.207809812]: Recovery behavior will clear layer obstacles
[ INFO] [1442992857.251510567]: Recovery behavior will clear layer obstacles
[ INFO] [1442992857.277491045]: odom received!
[INFO] [WallTime: 1442992857.520538] Initialized
[INFO] [WallTime: 1442992857.520837] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1442992857.830140] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][subscriber][/annotation/tables][/young/waiter_soft,http://192.168.10.23:34943/]
[INFO] [WallTime: 1442992857.834088] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][subscriber][/annotation/ar_markers][/young/waiter_soft,http://192.168.10.23:34943/]
[INFO] [WallTime: 1442992857.837853] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][publisher][/young/robot_status][/young/waiter_soft,http://192.168.10.23:34943/]
[INFO] [WallTime: 1442992858.440170] /young/waiter_soft : received waypoint locations
[INFO] [WallTime: 1442992858.440480] /young/waiter_soft : received global markers
[INFO] [WallTime: 1442992859.521197] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1442992859.529201] /young/waiter_soft : Delivery robot has been started
[INFO] [WallTime: 1442992859.931540] Gateway : sending flip request [alien-wired648913823b8f41eab087d068c3e1998a][action_server][/young/p2p_delivery_order][/young/waiter_soft,http://192.168.10.23:34943/]

screenshot from 2015-09-23 16 33 29

hughie commented 8 years ago

/p2p_delivery_order 주문 메시지 받기 이전 Master topic list

yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/annotation/ar_markers
/annotation/tables
/annotation/viz_ar_markers
/annotation/viz_tables
/concert/conductor/concert_client_changes
/concert/conductor/concert_clients
/concert/conductor/graph
/concert/conductor/graph_string
/concert/conductor/parameter_descriptions
/concert/conductor/parameter_updates
/concert/gateway/force_update
/concert/gateway/gateway_info
/concert/info
/concert/interactions/interactive_clients
/concert/scheduler/requests
/concert/scheduler/resource_pool
/concert/services/list
/concert/software/list
/concert/software/status
/concert/zeroconf/lost_connections
/concert/zeroconf/new_connections
/map
/p2p_delivery_order
/rosout
/rosout_agg
/services/admin/shutdown
/services/p2p_delivery/shutdown
/software/workflow_engine_blockly/enable_workflows
/software/workflow_engine_blockly/get_workflows_status
/software/world_canvas/warehouse/world_canvas/annotations/inserts
/software/world_canvas/warehouse/world_canvas/annotations_data/inserts
/software/world_canvas/warehouse/world_canvas/worlds/inserts
/tf
/young/robot_pose
/young45ad1afc036c48a2b404fe1535edb430/status
yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/annotation/ar_markers
/annotation/tables
/annotation/viz_ar_markers
/annotation/viz_tables
/concert/conductor/concert_client_changes
/concert/conductor/concert_clients
/concert/conductor/graph
/concert/conductor/graph_string
/concert/conductor/parameter_descriptions
/concert/conductor/parameter_updates
/concert/gateway/force_update
/concert/gateway/gateway_info
/concert/info
/concert/interactions/interactive_clients
/concert/scheduler/requests
/concert/scheduler/resource_pool
/concert/services/list
/concert/software/list
/concert/software/status
/concert/zeroconf/lost_connections
/concert/zeroconf/new_connections
/map
/p2p_delivery_order
/rosout
/rosout_agg
/services/admin/shutdown
/services/p2p_delivery/shutdown
/software/workflow_engine_blockly/enable_workflows
/software/workflow_engine_blockly/get_workflows_status
/software/world_canvas/warehouse/world_canvas/annotations/inserts
/software/world_canvas/warehouse/world_canvas/annotations_data/inserts
/software/world_canvas/warehouse/world_canvas/worlds/inserts
/tf
/young/robot_pose
/young45ad1afc036c48a2b404fe1535edb430/status

Client topic list

yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/gateway/force_update
/gateway/gateway_info
/info
/rosout
/rosout_agg
/young45ad1afc036c48a2b404fe1535edb430/incompatible_rapp_list
/young45ad1afc036c48a2b404fe1535edb430/rapp_list
/young45ad1afc036c48a2b404fe1535edb430/status
/zeroconf/lost_connections
/zeroconf/new_connections
hughie commented 8 years ago

주문 후 Master topic list

yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/annotation/ar_markers
/annotation/tables
/annotation/viz_ar_markers
/annotation/viz_tables
/concert/conductor/concert_client_changes
/concert/conductor/concert_clients
/concert/conductor/graph
/concert/conductor/graph_string
/concert/conductor/parameter_descriptions
/concert/conductor/parameter_updates
/concert/gateway/force_update
/concert/gateway/gateway_info
/concert/info
/concert/interactions/interactive_clients
/concert/scheduler/requests
/concert/scheduler/requests_a9ad2df1c65f44d386eedc88f11878a0
/concert/scheduler/resource_pool
/concert/services/list
/concert/software/list
/concert/software/status
/concert/zeroconf/lost_connections
/concert/zeroconf/new_connections
/map
/p2p_delivery_order
/rosout
/rosout_agg
/services/admin/shutdown
/services/p2p_delivery/shutdown
/software/workflow_engine_blockly/enable_workflows
/software/workflow_engine_blockly/get_workflows_status
/software/world_canvas/warehouse/world_canvas/annotations/inserts
/software/world_canvas/warehouse/world_canvas/annotations_data/inserts
/software/world_canvas/warehouse/world_canvas/worlds/inserts
/tf
/young/robot_pose
/young45ad1afc036c48a2b404fe1535edb430/status
yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/annotation/ar_markers
/annotation/tables
/annotation/viz_ar_markers
/annotation/viz_tables
/concert/conductor/concert_client_changes
/concert/conductor/concert_clients
/concert/conductor/graph
/concert/conductor/graph_string
/concert/conductor/parameter_descriptions
/concert/conductor/parameter_updates
/concert/gateway/force_update
/concert/gateway/gateway_info
/concert/info
/concert/interactions/interactive_clients
/concert/scheduler/requests
/concert/scheduler/requests_a9ad2df1c65f44d386eedc88f11878a0
/concert/scheduler/resource_pool
/concert/services/list
/concert/software/list
/concert/software/status
/concert/zeroconf/lost_connections
/concert/zeroconf/new_connections
/map
/p2p_delivery_order
/rosout
/rosout_agg
/services/admin/shutdown
/services/p2p_delivery/shutdown
/software/workflow_engine_blockly/enable_workflows
/software/workflow_engine_blockly/get_workflows_status
/software/world_canvas/warehouse/world_canvas/annotations/inserts
/software/world_canvas/warehouse/world_canvas/annotations_data/inserts
/software/world_canvas/warehouse/world_canvas/worlds/inserts
/tf
/young/p2p_delivery_order/cancel
/young/p2p_delivery_order/feedback
/young/p2p_delivery_order/goal
/young/p2p_delivery_order/result
/young/p2p_delivery_order/status
/young/robot_pose
/young/robot_status
/young45ad1afc036c48a2b404fe1535edb430/status

주문 후 Client topic list

yujin@alien-wired:~/ros/headoffice_concert$ rostopic list
/annotation/ar_markers
/annotation/tables
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/gateway/force_update
/gateway/gateway_info
/info
/map
/rosout
/rosout_agg
/tf
/tf_static
/young/amcl_pose
/young/initialpose
/young/joint_states
/young/mobile_base/commands/motor_power
/young/mobile_base/commands/velocity
/young/mobile_base/version_info
/young/mobile_base_nodelet_manager/bond
/young/move_base/NavfnROS/plan
/young/move_base/TrajectoryPlannerROS/cost_cloud
/young/move_base/TrajectoryPlannerROS/global_plan
/young/move_base/TrajectoryPlannerROS/local_plan
/young/move_base/TrajectoryPlannerROS/parameter_descriptions
/young/move_base/TrajectoryPlannerROS/parameter_updates
/young/move_base/cancel
/young/move_base/current_goal
/young/move_base/feedback
/young/move_base/global_costmap/costmap
/young/move_base/global_costmap/costmap_updates
/young/move_base/global_costmap/footprint
/young/move_base/global_costmap/inflation_layer/parameter_descriptions
/young/move_base/global_costmap/inflation_layer/parameter_updates
/young/move_base/global_costmap/obstacle_layer/clearing_endpoints
/young/move_base/global_costmap/obstacle_layer/parameter_descriptions
/young/move_base/global_costmap/obstacle_layer/parameter_updates
/young/move_base/global_costmap/obstacle_layer_footprint/footprint_stamped
/young/move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions
/young/move_base/global_costmap/obstacle_layer_footprint/parameter_updates
/young/move_base/global_costmap/parameter_descriptions
/young/move_base/global_costmap/parameter_updates
/young/move_base/global_costmap/static_layer/parameter_descriptions
/young/move_base/global_costmap/static_layer/parameter_updates
/young/move_base/goal
/young/move_base/local_costmap/costmap
/young/move_base/local_costmap/costmap_updates
/young/move_base/local_costmap/footprint
/young/move_base/local_costmap/inflation_layer/parameter_descriptions
/young/move_base/local_costmap/inflation_layer/parameter_updates
/young/move_base/local_costmap/obstacle_layer/clearing_endpoints
/young/move_base/local_costmap/obstacle_layer/parameter_descriptions
/young/move_base/local_costmap/obstacle_layer/parameter_updates
/young/move_base/local_costmap/obstacle_layer_footprint/footprint_stamped
/young/move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions
/young/move_base/local_costmap/obstacle_layer_footprint/parameter_updates
/young/move_base/local_costmap/parameter_descriptions
/young/move_base/local_costmap/parameter_updates
/young/move_base/parameter_descriptions
/young/move_base/parameter_updates
/young/move_base/result
/young/move_base/status
/young/move_base_simple/goal
/young/odom
/young/p2p_delivery_order/cancel
/young/p2p_delivery_order/feedback
/young/p2p_delivery_order/goal
/young/p2p_delivery_order/result
/young/p2p_delivery_order/status
/young/particlecloud
/young/robot_pose
/young/robot_status
/young45ad1afc036c48a2b404fe1535edb430/incompatible_rapp_list
/young45ad1afc036c48a2b404fe1535edb430/rapp_list
/young45ad1afc036c48a2b404fe1535edb430/status
/zeroconf/lost_connections
/zeroconf/new_connections
hughie commented 8 years ago

Master gateway info

yujin@alien-wired:~/ros/headoffice_concert$ gateway_info 
Gateway
  Namespace   : /concert/gateway
  Name        : alien-wired
  Hash Name   : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b
  Namespace   : /concert/gateway
  Ip/Hostname : 192.168.10.23
  Connected   : True
  Hubs        : alien-wired [localhost:6380]
  Firewall    : False
  Public Watchlist
       : -
  Public Interface
       : -
  Flip Watchlist
       : -
  Flipped Connections
       : -
  Flipped in Connections
       : young1c7912634c1e49329eca676a560de3a2-/map-subscriber-/young/move_base
       : young1c7912634c1e49329eca676a560de3a2-/annotation/ar_markers-subscriber-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/annotation/tables-subscriber-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/p2p_delivery_order/cancel-subscriber-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/p2p_delivery_order/goal-subscriber-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/robot_pose-publisher-/young/robot_pose_publisher
       : young1c7912634c1e49329eca676a560de3a2-/young/robot_status-publisher-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/p2p_delivery_order/feedback-publisher-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/p2p_delivery_order/result-publisher-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young/p2p_delivery_order/status-publisher-/young/waiter_soft
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/start_rapp-service-/app_manager
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/stop_rapp-service-/app_manager
  Pull Watchlist
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/status-publisher-.*
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/invite-service-.*
  Pulled Connections
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/status-publisher-/app_manager
       : young1c7912634c1e49329eca676a560de3a2-/young1c7912634c1e49329eca676a560de3a2/invite-service-/app_manager

Client gateway info

Gateway
  Namespace   : /gateway
  Name        : young
  Hash Name   : young1c7912634c1e49329eca676a560de3a2
  Namespace   : /gateway
  Ip/Hostname : 192.168.10.23
  Connected   : True
  Hubs        : alien-wired [localhost:6380]
  Firewall    : False
  Public Watchlist
       : .*status-publisher-.*app_manager
       : .*platform_info-service-.*app_manager
       : .*invite-service-.*app_manager
       : .*list_rapps-service-.*app_manager
       : .*get_status-service-.*app_manager
  Public Interface
       : /young1c7912634c1e49329eca676a560de3a2/status-publisher-/app_manager
       : /young1c7912634c1e49329eca676a560de3a2/platform_info-service-/app_manager
       : /young1c7912634c1e49329eca676a560de3a2/list_rapps-service-/app_manager
       : /young1c7912634c1e49329eca676a560de3a2/invite-service-/app_manager
  Flip Watchlist
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/map-subscriber-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/map_metadata-subscriber-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/annotation/tables-subscriber-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/annotation/ar_markers-subscriber-.*
       : Public Gateway.*-/diagnostics_agg-publisher-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/robot_pose-publisher-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/robot_status-publisher-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young1c7912634c1e49329eca676a560de3a2/start_rapp-service-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young1c7912634c1e49329eca676a560de3a2/stop_rapp-service-.*
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/p2p_delivery_order-action_server-.*
  Flipped Connections
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/annotation/tables-subscriber-/young/waiter_soft,http://192.168.10.23:51288/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/map-subscriber-/young/move_base,http://192.168.10.23:45363/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/annotation/ar_markers-subscriber-/young/waiter_soft,http://192.168.10.23:51288/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/robot_pose-publisher-/young/robot_pose_publisher,http://192.168.10.23:57795/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/robot_status-publisher-/young/waiter_soft,http://192.168.10.23:51288/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young1c7912634c1e49329eca676a560de3a2/start_rapp-service-/app_manager,http://192.168.10.23:59934/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young1c7912634c1e49329eca676a560de3a2/stop_rapp-service-/app_manager,http://192.168.10.23:59934/ [unknown]
       : alien-wiredb002af8fdf9c4764819e4dccb0b1ba7b-/young/p2p_delivery_order-action_server-/young/waiter_soft,http://192.168.10.23:51288/ [unknown]
  Flipped in Connections
       : -
  Pull Watchlist
       : -
  Pulled Connections
       : -
hughie commented 8 years ago

일단 요 위의 문제는 allocate resource block에서 p2p_delivery_order를 /p2p_delivery_order로 remap_to로 지정한 것으로 보인다. 더불어 robot_pose와 robot_status도 /robot_pose,/robot_status로 remapping 요청하게 되어 있는 것을 삭제했음.

hughie commented 8 years ago

예약어 관련된 P2P delivery message(msg, action)을 수정하고, 서비스의 requester 블록에서의 remapping을 수정해서 위의 문제는 해결되었음.