P2Pdelivery service] waiterbot(sim) p2p_delivery_robot_soft.py has no attribute 'goto'

hughie commented 8 years ago

주문 메시지를 받은 뒤에 young을 할당하고 global markers와 waypoint location정보를 받음 그 뒤에 p2p_delivery_robot_soft.py의 P2PDeliberyRobot객체에 goto함수가 정의가 되어 있지 않음. 다른 소스를 파악해 볼 필요가 있음.

Client Log

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/2a6278de-627d-11e5-a99e-ecf4bb55db1e/roslaunch-alien-wired-1242.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://192.168.10.23:60886/

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 [2060]
ROS_MASTER_URI=http://localhost:11315

setting /run_id to 2a6278de-627d-11e5-a99e-ecf4bb55db1e
process[rosout-1]: started with pid [2149]
started core service [/rosout]
process[gateway-2]: started with pid [2169]
process[app_manager-3]: started with pid [2176]
[INFO] [WallTime: 1443072546.073663] Gateway : generated unique hash name [youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072546.075001] Gateway : adding rule to public watchlist [publisher][.*status][.*app_manager]
[INFO] [WallTime: 1443072546.075157] Gateway : adding rule to public watchlist [service][.*platform_info][.*app_manager]
[INFO] [WallTime: 1443072546.075265] Gateway : adding rule to public watchlist [service][.*invite][.*app_manager]
[INFO] [WallTime: 1443072546.075360] Gateway : adding rule to public watchlist [service][.*list_rapps][.*app_manager]
[INFO] [WallTime: 1443072546.075450] Gateway : adding rule to public watchlist [service][.*get_status][.*app_manager]
[INFO] [WallTime: 1443072546.086016] Gateway : checking if zeroconf services are available...
process[master-4]: started with pid [2219]
process[zeroconf/zeroconf-5]: started with pid [2267]
[ INFO] [1443072546.392022714]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1443072546.392283938]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[ INFO] [1443072546.392712808]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1443072546.470869] Rapp Manager : indexing rapps...
[ INFO] [1443072546.892903769]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1443072546.972546] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1443072546.973372] Gateway : registering on the hub [alien-wired]
[INFO] [WallTime: 1443072546.975653] Gateway : discovered hub via zeroconf [localhost:6380]
[INFO] [WallTime: 1443072547.005209] Rapp Manager : determining runnable rapps...
[INFO] [WallTime: 1443072547.064540] Rapp Manager : disabling apps requiring capabilities [Couldn't find capability server node. Error: Node 'capability_server' not found.]
[WARN] [WallTime: 1443072547.065159] Rapp Manager : 'concert_demo_rapps/notice_nao' is incompatible [rocon:/aldebaran_nao][rocon:/pc/young/indigo/trusty]
[INFO] [WallTime: 1443072547.065501] Rapp Manager : 'concert_demo_sim_rapps/drink_giver_sim' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.065704] Rapp Manager : 'concert_demo_sim_rapps/pickup_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.065900] Rapp Manager : 'rocon_ninjablock_rapps/room_checker_ninjablock' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.066138] Rapp Manager : 'rocon_apps/meow_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.066366] Rapp Manager : 'rocon_hue/hue_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.066534] Rapp Manager : 'concert_demo_sim_rapps/p2p_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.066691] Rapp Manager : 'concert_demo_sim_rapps/vm_delivery_sim' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.066857] Rapp Manager : 'robosem_bridge/robosem_bridge' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.067007] Rapp Manager : 'rocon_apps/moo_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.067177] Rapp Manager : 'rocon_apps/angry_cat_chirp' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.067332] Rapp Manager : 'rocon_apps/talker' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.067489] Rapp Manager : 'rocon_apps/listener' added to the list of runnable apps.
[INFO] [WallTime: 1443072547.067635] Rapp Manager : 'rocon_apps/lion_chirp' added to the list of runnable apps.
[WARN] [WallTime: 1443072547.067800] Rapp Manager : 'rocon_apps/chirp' is not unique and has no preferred rapp. rocon_apps/meow_chirp' has been selected.
[INFO] [WallTime: 1443072547.070299] Rapp Manager : initialised.
[INFO] [WallTime: 1443072547.211006] Gateway : adding connection to public interface [publisher][/youngf665f9f11f05407ba8a952c5806f5f79/status][/app_manager]
[INFO] [WallTime: 1443072547.211411] Gateway : adding connection to public interface [service][/youngf665f9f11f05407ba8a952c5806f5f79/list_rapps][/app_manager]
[INFO] [WallTime: 1443072547.211709] Gateway : adding connection to public interface [service][/youngf665f9f11f05407ba8a952c5806f5f79/platform_info][/app_manager]
[INFO] [WallTime: 1443072547.211945] Gateway : adding connection to public interface [service][/youngf665f9f11f05407ba8a952c5806f5f79/invite][/app_manager]
[ INFO] [1443072547.393067254]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
[INFO] [WallTime: 1443072547.477430] Gateway : blacklisting hub [already connected to this hub]
[WARN] [WallTime: 1443072547.479301] 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: 1443072547.479559] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][alien-wired]]
[INFO] [WallTime: 1443072550.014688] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/youngf665f9f11f05407ba8a952c5806f5f79/start_rapp,service)]
[INFO] [WallTime: 1443072550.014966] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/youngf665f9f11f05407ba8a952c5806f5f79/stop_rapp,service)]
[INFO] [WallTime: 1443072550.015610] Rapp Manager : successfully flipped [['/youngf665f9f11f05407ba8a952c5806f5f79/start_rapp', '/youngf665f9f11f05407ba8a952c5806f5f79/stop_rapp']]
[INFO] [WallTime: 1443072550.015851] Rapp Manager : accepting invitation to be remote controlled [alien-wired6e6def30c44d49a19286bb5b1e6f935d]
[INFO] [WallTime: 1443072550.037658] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][service][/youngf665f9f11f05407ba8a952c5806f5f79/stop_rapp][/app_manager,http://192.168.10.23:49261/]
[INFO] [WallTime: 1443072550.039661] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][service][/youngf665f9f11f05407ba8a952c5806f5f79/start_rapp][/app_manager,http://192.168.10.23:49261/]
[INFO] [WallTime: 1443072596.493343] Rapp Manager : request received to start rapp [concert_demo_rapps/p2p_delivery]
[INFO] [WallTime: 1443072596.493607] Rapp Manager : starting app 'concert_demo_rapps/p2p_delivery' underneath young
started roslaunch server http://192.168.10.23:34312/

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 [3377]
[ INFO] [1443072598.470743601]: Initializing nodelet with 8 worker threads.
process[young/mobile_base-2]: started with pid [3405]
[ INFO] [1443072598.617077117]: Loading nodelet /young/mobile_base of type kobuki_softnode/SoftKobukiNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1443072598.617132454]: /young/global_marker_list -> /annotation/ar_markers
[ INFO] [1443072598.617143376]: /young/location_list -> /annotation/tables
[ INFO] [1443072598.617152854]: /young/map -> /map
[ INFO] [1443072598.617160970]: /young/map_metadata -> /map_metadata
[ INFO] [1443072598.617167749]: /young/mobile_base/joint_states -> /young/joint_states
[ INFO] [1443072598.617174013]: /young/mobile_base/odom -> /young/odom
[ INFO] [1443072598.617181586]: /young/p2p_delivery_order -> /p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5
[ INFO] [1443072598.677277123]: Kobuki : initialised.
process[young/diagnostic_aggregator-3]: started with pid [3464]
process[young/robot_state_publisher-4]: started with pid [3538]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
process[young/fake_localization-5]: started with pid [3563]
process[young/move_base-6]: started with pid [3613]
process[young/robot_pose_publisher-7]: started with pid [3672]
process[young/waiter_soft-8]: started with pid [3705]
[INFO] [WallTime: 1443072599.685197] Rapp Manager : Remote Name [alien-wired6e6def30c44d49a19286bb5b1e6f935d]
[INFO] [WallTime: 1443072599.908731] /young/waiter_soft
[INFO] [WallTime: 1443072599.909846] delivery robot sound volume: 80
[INFO] [WallTime: 1443072599.917578] /young/waiter_soft : Wait for movebase
[ INFO] [1443072600.121412973]: Loading from pre-hydro parameter style
[ INFO] [1443072600.143481358]: Using plugin "static_layer"
[INFO] [WallTime: 1443072600.188825] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/young/robot_pose,publisher)]
[INFO] [WallTime: 1443072600.189164] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/young/robot_status,publisher)]
[INFO] [WallTime: 1443072600.189378] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/map,subscriber)]
[INFO] [WallTime: 1443072600.189606] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/map_metadata,subscriber)]
[INFO] [WallTime: 1443072600.189768] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/annotation/tables,subscriber)]
[INFO] [WallTime: 1443072600.190045] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/annotation/ar_markers,subscriber)]
[INFO] [WallTime: 1443072600.190260] Gateway : added flip rule [alien-wired6e6def30c44d49a19286bb5b1e6f935d:(/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5,action_server)]
[ INFO] [1443072600.191123536]: Requesting the map...
[INFO] [WallTime: 1443072600.191354] Rapp Manager : successfully flipped [[], ['/young/robot_pose', '/young/robot_status'], [], ['/map', '/map_metadata', '/annotation/tables', '/annotation/ar_markers'], ['/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5']]
[INFO] [WallTime: 1443072600.218193] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][subscriber][/map][/young/move_base,http://192.168.10.23:52272/]
[INFO] [WallTime: 1443072600.221584] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][publisher][/young/robot_pose][/young/robot_pose_publisher,http://192.168.10.23:40684/]
[ INFO] [1443072602.494401887]: Resizing costmap to 732 X 413 at 0.050000 m/pix
[ INFO] [1443072602.594292770]: Received a 732 X 413 map at 0.050000 m/pix
[ INFO] [1443072602.598343261]: Using plugin "obstacle_layer"
[ INFO] [1443072602.599982891]:     Subscribed to Topics: 
[ INFO] [1443072602.619955317]: Using plugin "inflation_layer"
[ INFO] [1443072602.724496922]: Loading from pre-hydro parameter style
[ INFO] [1443072602.747214741]: Using plugin "obstacle_layer"
[ INFO] [1443072602.788483131]:     Subscribed to Topics: 
[ INFO] [1443072602.810303578]: Using plugin "inflation_layer"
[ INFO] [1443072602.885967612]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1443072602.893226501]: Sim period is set to 0.05
[ WARN] [1443072602.898138972]: 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] [1443072603.089560243]: Recovery behavior will clear layer obstacles
[ INFO] [1443072603.136803230]: Recovery behavior will clear layer obstacles
[ INFO] [1443072603.168642257]: odom received!
[INFO] [WallTime: 1443072603.398664] Initialized
[INFO] [WallTime: 1443072603.399206] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1443072604.331084] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][subscriber][/annotation/tables][/young/waiter_soft,http://192.168.10.23:50635/]
[INFO] [WallTime: 1443072604.335028] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][subscriber][/annotation/ar_markers][/young/waiter_soft,http://192.168.10.23:50635/]
[INFO] [WallTime: 1443072604.339056] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][publisher][/young/robot_status][/young/waiter_soft,http://192.168.10.23:50635/]
[INFO] [WallTime: 1443072605.400759] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1443072606.367485] /young/waiter_soft : received global markers
[INFO] [WallTime: 1443072606.368021] /young/waiter_soft : received waypoint locations
[INFO] [WallTime: 1443072607.402023] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1443072607.411898] /young/waiter_soft : Delivery robot has been started
[INFO] [WallTime: 1443072607.464513] Gateway : sending flip request [alien-wired6e6def30c44d49a19286bb5b1e6f935d][action_server][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5][/young/waiter_soft,http://192.168.10.23:50635/]
[INFO] [WallTime: 1443072610.566728] /young/waiter_soft : Order Received [sw_team -> svc_team]
[ERROR] [WallTime: 1443072610.567238] Exception in your execute callback: 'P2PDeliveryRobot' object has no attribute 'goto'
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 54, in execute_callback
    self.goto(order_id, target_goal=caller, status=P2PDeliveryStatus.GO_TO_PICKUP, message="Go to caller")
AttributeError: 'P2PDeliveryRobot' object has no attribute 'goto'

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/2923cfc2-627d-11e5-8414-ecf4bb55db1e/roslaunch-alien-wired-1214.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://192.168.10.23:60194/

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 [1226]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2923cfc2-627d-11e5-8414-ecf4bb55db1e
process[rosout-1]: started with pid [1245]
started core service [/rosout]
process[concert/master-2]: started with pid [1267]
process[concert/services-3]: started with pid [1280]
process[concert/software-4]: started with pid [1301]
process[concert/conductor-5]: started with pid [1332]
process[concert/concert_conductor_graph_to_string-6]: started with pid [1395]
process[concert/scheduler-7]: started with pid [1443]
[INFO] [WallTime: 1443072543.880026] scheduler request topic: ~requests
process[concert/interactions-8]: started with pid [1634]
[INFO] [WallTime: 1443072544.112220] Software Farm : ===== Available Softwares =====
[INFO] [WallTime: 1443072544.112645] Software Farm : - concert_software_common/web_video_server : Streams video via http
[INFO] [WallTime: 1443072544.112898] Software Farm : - concert_software_common/world_canvas_server : World canvas server
[INFO] [WallTime: 1443072544.113134] Software Farm : - concert_workflow_engine_blockly/workflow_engine_blockly : Execution workflows composed by blockly
process[concert/hub-9]: started with pid [1746]
[INFO] [WallTime: 1443072544.275211] Service Manager : load service profile from default configuration
process[concert/gateway-10]: started with pid [1825]
[INFO] [WallTime: 1443072544.463346] Hub : version 2.8.4
process[concert/zeroconf/zeroconf-11]: started with pid [1859]
[INFO] [WallTime: 1443072544.634993] Hub : reset hub variables on the redis server.
[INFO] [WallTime: 1443072544.648830] Hub : advertising 'alien-wired' on zeroconf [_ros-multimaster-hub._tcp, port 6380]
[INFO] [WallTime: 1443072544.691916] Gateway : generated unique hash name [alien-wired6e6def30c44d49a19286bb5b1e6f935d]
[INFO] [WallTime: 1443072544.708896] Gateway : checking if zeroconf services are available...
[ INFO] [1443072544.714481251]: Zeroconf: added a listener [_ros-multimaster-hub._tcp]
[ INFO] [1443072544.717757410]: Zeroconf: discovered new service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1443072544.720574] Gateway : discovered hub directly [http://localhost:6380]
process[rosbridge_websocket-12]: started with pid [1938]
[INFO] [WallTime: 1443072544.851687] Gateway : Found existing mismatched public key on the hub. Requesting resend for all flip-ins.
[INFO] [WallTime: 1443072544.854328] Gateway : registering on the hub [alien-wired]
[INFO] [WallTime: 1443072544.977596] {'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}
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 [2014]
Found the conductor, setting up subscribers inside /concert/conductor
[INFO] [WallTime: 1443072545.166803] Rosbridge WebSocket server started on port 9090
[ INFO] [1443072545.218000830]: Zeroconf: resolved service [xavier][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.32:6380]
process[concert/rocon_tf_reconstructor-14]: started with pid [2063]
[ INFO] [1443072545.284321841]: Initialized
[ INFO] [1443072545.284404723]: In Spin!
[WARN] [WallTime: 1443072545.357464] 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: 1443072545.357837] Gateway : blacklisting hub [hub/ip not in non-empty whitelist [xavier, 192.168.10.32:6380][['http://localhost:6380']]]
[ INFO] [1443072545.411140128]: Zeroconf: service successfully established [alien-wired][_concert-master._tcp][11311]
Established under name 'alien-wired'
[ INFO] [1443072545.415746341]: Zeroconf: discovered new service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4]
[INFO] [WallTime: 1443072545.522994] Rosapi started
[INFO] [WallTime: 1443072545.644008] Conductor Graph To String : Initialised
[ INFO] [1443072545.915929602]: Zeroconf: resolved service [alien-wired][_ros-multimaster-hub._tcp][local][2][ipv4][192.168.10.23:6380]
[INFO] [WallTime: 1443072546.362834] Gateway : blacklisting hub [already connected to this hub]
[INFO] [WallTime: 1443072547.993459] Conductor : new client discovered [youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072547.995017] Gateway : added pull rule [youngf665f9f11f05407ba8a952c5806f5f79:(/youngf665f9f11f05407ba8a952c5806f5f79/platform_info,service)]
[INFO] [WallTime: 1443072547.995269] Gateway : added pull rule [youngf665f9f11f05407ba8a952c5806f5f79:(/youngf665f9f11f05407ba8a952c5806f5f79/list_rapps,service)]
[INFO] [WallTime: 1443072547.995476] Gateway : added pull rule [youngf665f9f11f05407ba8a952c5806f5f79:(/youngf665f9f11f05407ba8a952c5806f5f79/invite,service)]
[INFO] [WallTime: 1443072547.995645] Gateway : added pull rule [youngf665f9f11f05407ba8a952c5806f5f79:(/youngf665f9f11f05407ba8a952c5806f5f79/status,publisher)]
[INFO] [WallTime: 1443072548.146951] Gateway : pulling in connection [publisher][/youngf665f9f11f05407ba8a952c5806f5f79/status][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072548.148476] Gateway : pulling in connection [service][/youngf665f9f11f05407ba8a952c5806f5f79/invite][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072548.154891] Gateway : pulling in connection [service][/youngf665f9f11f05407ba8a952c5806f5f79/list_rapps][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072548.160415] Gateway : pulling in connection [service][/youngf665f9f11f05407ba8a952c5806f5f79/platform_info][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072548.584408] Service Manager : serving request to enable 'admin'
[INFO] [WallTime: 1443072549.006314] Conductor : concert client transition [pending->uninvited][young]
[INFO] [WallTime: 1443072549.006869] Gateway : removed pull rule [youngf665f9f11f05407ba8a952c5806f5f79:/youngf665f9f11f05407ba8a952c5806f5f79/platform_info]
[INFO] [WallTime: 1443072549.007261] Gateway : removed pull rule [youngf665f9f11f05407ba8a952c5806f5f79:/youngf665f9f11f05407ba8a952c5806f5f79/list_rapps]
[INFO] [WallTime: 1443072549.183977] Gateway : abandoning pulled connection [service][/youngf665f9f11f05407ba8a952c5806f5f79/list_rapps][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072549.186656] Gateway : abandoning pulled connection [service][/youngf665f9f11f05407ba8a952c5806f5f79/platform_info][/app_manager][youngf665f9f11f05407ba8a952c5806f5f79]
[INFO] [WallTime: 1443072549.943978] Interactions : loading Gateway Graph [rocon_gateway_graph-Admin-/services/admin]
[INFO] [WallTime: 1443072549.944297] Interactions : loading Conductor Graph [concert_conductor_graph-Admin-/services/admin]
[INFO] [WallTime: 1443072549.944470] Interactions : loading Ros Graph [rqt_graph-Admin-/services/admin]
[INFO] [WallTime: 1443072549.944634] Interactions : loading Concert Info [concert_info-Admin-/services/admin]
[INFO] [WallTime: 1443072549.944781] Interactions : loading Concert Service Administration [concert_admin_app-Admin-/services/admin]
[INFO] [WallTime: 1443072549.944935] Interactions : loading Concert Conductor Graph [web_app(http://webapp.robotconcert.org/concert_conductor_graph_web/index.html)-Admin-/services/admin]
[INFO] [WallTime: 1443072549.945263] Service Manager : service enabled [admin] [admin]
[INFO] [WallTime: 1443072549.945616] Service Manager : serving request to enable 'p2p_delivery'
[INFO] [WallTime: 1443072550.016630] Conductor : concert client transition [uninvited->joining][young]
started roslaunch server http://192.168.10.23:58244/

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 [2446]
process[services/p2p_delivery/workflow_handler_blockly-2]: started with pid [2450]
[INFO] [WallTime: 1443072551.091738] Software Farm : User[/services/p2p_delivery/workflow_handler_blockly] requested to use concert_workflow_engine_blockly/workflow_engine_blockly
[INFO] [WallTime: 1443072551.138066] Interactions : loading P2P Delivery Monitoring [web_app(http://webapp.robotconcert.org/concert_delivery_monitor/index.html)-Manager-/services/p2p_delivery]
[INFO] [WallTime: 1443072551.138615] Service Manager : service enabled [p2p_delivery] [p2p_delivery]
[INFO] [WallTime: 1443072551.217574] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][service][/youngf665f9f11f05407ba8a952c5806f5f79/stop_rapp][/app_manager]
[INFO] [WallTime: 1443072551.222884] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][service][/youngf665f9f11f05407ba8a952c5806f5f79/start_rapp][/app_manager]
[INFO] [WallTime: 1443072551.324937] Conductor : concert client transition [joining->available][young]
[INFO] [WallTime: 1443072551.326620] Scheduler : new concert client [young]
[ INFO] [1443072551.384598474]: Create Subscriber for : young   Topic : /young/robot_pose
started roslaunch server http://192.168.10.23:57872/

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 [2817]
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 [2828]
[INFO] [WallTime: 1443072552.327342] Rosbridge WebSocket server started on port 9091
process[software/workflow_engine_blockly/workflow_engine_blockly-3]: started with pid [2848]
[INFO] [WallTime: 1443072552.685007] Software Farm : True['']
[INFO] [WallTime: 1443072552.685321] 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: 1443072552.754464] Rosapi started
started roslaunch server http://192.168.10.23:55129/

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: 1443072553.104630] Blockly Workflow Handler : enable workflow [service name: p2p_delivery]
process[software/world_canvas/world_canvas_server-4]: started with pid [2901]
[INFO] [WallTime: 1443072553.239987] Software Farm : True['']
[INFO] [WallTime: 1443072553.240554] Publish World : world canvas namespace : /software/world_canvas
[INFO] [WallTime: 1443072553.242337] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1443072553.242583] Waiting for 'get_annotations' service...
info:  
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/2923cfc2-627d-11e5-8414-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: 1443072553.465428] Client connected.  1 clients total.
info: ros connected
[INFO] [WallTime: 1443072553.523168] Annotations server : initialized.
[INFO] [WallTime: 1443072553.547846] 1 annotations loaded
[INFO] [WallTime: 1443072553.548325] 1 annotations found
[INFO] [WallTime: 1443072553.548627] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1443072553.549937] Loading data for the 1 retrieved annotations
[INFO] [WallTime: 1443072553.553259] 1 objects found for 1 annotations
[INFO] [WallTime: 1443072553.554219] 1 annotations data retrieved
[INFO] [WallTime: 1443072553.569074] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1443072553.569415] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1443072553.576787] 10 annotations loaded
[INFO] [WallTime: 1443072553.577555] 10 annotations found
[INFO] [WallTime: 1443072553.577893] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1443072553.579176] Loading data for the 10 retrieved annotations
[INFO] [WallTime: 1443072553.585056] 10 objects found for 10 annotations
[INFO] [WallTime: 1443072553.585580] 10 annotations data retrieved
[INFO] [WallTime: 1443072553.597379] Getting annotations for world 'yujin_rnd' and additional filter criteria
[INFO] [WallTime: 1443072553.597662] Waiting for 'get_annotations' service...
[INFO] [WallTime: 1443072553.601296] 2 annotations loaded
[INFO] [WallTime: 1443072553.601694] 2 annotations found
[INFO] [WallTime: 1443072553.601952] Waiting for 'get_annotations_data' service...
[INFO] [WallTime: 1443072553.603107] Loading data for the 2 retrieved annotations
[INFO] [WallTime: 1443072553.605547] 2 objects found for 2 annotations
[INFO] [WallTime: 1443072553.605845] 2 annotations data retrieved
[INFO] [WallTime: 1443072553.609359] Done
[INFO] [WallTime: 1443072556.693071] [Client 0] Subscribed to /concert/scheduler/resource_pool
[INFO] [WallTime: 1443072556.700217] [Client 0] Subscribed to enable_workflows
info: engine options 
{ _: 
   [ '__name:=workflow_engine_blockly',
     '__log:=/home/yujin/.ros/log/2923cfc2-627d-11e5-8414-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 : 3024
info: engine-3024 info: pid 3024
info: engine-3024 info: publish loop started
info: engine-3024 info: trying to connect to ros ws://localhost:9091
[INFO] [WallTime: 1443072557.249270] Client connected.  2 clients total.
info: engine-3024 info: ros connected
info: engine status to started
info: engine status to ready
info: engine status to running
info: engine-3024 Thu Sep 24 2015 14:29:20 GMT+0900 (KST) - Rocon Authoring :"Start P2P delivery service"
info: engine-3024 info: scripts evaluated.
[INFO] [WallTime: 1443072560.282537] [Client 1] Subscribed to /p2p_delivery_order_from_ui
info: engine-3024 Thu Sep 24 2015 14:29:55 GMT+0900 (KST) - Rocon Authoring :"[p2p_delivery_order id] 123[sender] sw_team[receiver] svc_team"
[INFO] [WallTime: 1443072595.169390] [Client 0] Subscribed to /concert/scheduler/requests_601f4f1fe850419eaaad531dc3afa0d0
[INFO] [WallTime: 1443072595.583650] requester feedback topic: ~requests_601f4f1fe850419eaaad531dc3afa0d0
Compatibility Tree
  rocon:/ : ['young']
  Pruning...
    rocon:/ : ['young']
    Pruning Resolvable Branches
      rocon:/ : ['young']
  Pruned Tree
    rocon:/ : ['young']
[INFO] [WallTime: 1443072596.491760] Scheduler : compatibility tree is valid, attempting to allocate [915f4e40-7c5a-46f7-85d2-a24cbd91f4c6]
[INFO] [WallTime: 1443072600.191824] Scheduler :   allocated [young]
[INFO] [WallTime: 1443072602.210576] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][publisher][/young/robot_pose][/young/robot_pose_publisher]
[INFO] [WallTime: 1443072602.212259] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][subscriber][/map][/young/move_base]
info: engine-3024 Thu Sep 24 2015 14:30:03 GMT+0900 (KST) - Rocon Authoring :"Resource allocation succeeded for P2P delivery"
info: engine-3024 topic count check :  0/5 []
[INFO] [WallTime: 1443072606.334543] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][subscriber][/annotation/ar_markers][/young/waiter_soft]
[INFO] [WallTime: 1443072606.336956] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][publisher][/young/robot_status][/young/waiter_soft]
[INFO] [WallTime: 1443072606.338340] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][subscriber][/annotation/tables][/young/waiter_soft]
[INFO] [WallTime: 1443072608.446711] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][subscriber][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/cancel][/young/waiter_soft]
[INFO] [WallTime: 1443072608.449207] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][publisher][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/status][/young/waiter_soft]
[INFO] [WallTime: 1443072608.450424] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][subscriber][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/goal][/young/waiter_soft]
[INFO] [WallTime: 1443072608.452315] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][publisher][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/feedback][/young/waiter_soft]
[INFO] [WallTime: 1443072608.453495] Gateway : received a flip request [youngf665f9f11f05407ba8a952c5806f5f79][publisher][/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/result][/young/waiter_soft]
info: engine-3024 topic count check :  5/5 [ '/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/status',
  '/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/feedback',
  '/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/cancel',
  '/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/goal',
  '/p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/result' ]
info: engine-3024 info: all topic received: engine resume
info: engine-3024 info: run action : /p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5 simple_delivery_msgs/P2PDeliveryOrderAction {"order_id":"123","sender":"sw_team","receiver":"svc_team","message":"HELLOW"}
[INFO] [WallTime: 1443072608.571317] [Client 1] Subscribed to /p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/status
[INFO] [WallTime: 1443072608.575834] [Client 1] Subscribed to /p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/feedback
[INFO] [WallTime: 1443072608.580256] [Client 1] Subscribed to /p2p_delivery_order_c30cf5a23bf34a129a4227585fbaa4b5/result
info: engine-3024 info: Sending goal processing untill receiving
info: engine-3024 Thu Sep 24 2015 14:30:10 GMT+0900 (KST) - Rocon Authoring :"[order_id] [success] false"
info: engine-3024 info: Finish sending goal processing

hughie commented 8 years ago

Client log

[ERROR] [WallTime: 1443073757.876468] Exception in your execute callback: 'P2PDeliveryRobot' object has no attribute 'table_poses'
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 54, in execute_callback
    self.go_to(order_id, target_goal=caller, status=P2PDeliveryStatus.GO_TO_PICKUP, message="Go to caller")
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 115, in go_to
    goal = MoveBaseGoal(self.table_poses[target_goal])
AttributeError: 'P2PDeliveryRobot' object has no attribute 'table_poses'

hughie commented 8 years ago

Client log

[INFO] [WallTime: 1443080608.121364] Gateway : sending flip request [alien-wired0036c88ce7bb420f955b5541d657bc6b][publisher][/young/robot_pose][/young/robot_pose_publisher,http://192.168.10.23:34614/]
[ INFO] [1443080610.004320088]: Resizing costmap to 732 X 413 at 0.050000 m/pix
[ INFO] [1443080610.104213789]: Received a 732 X 413 map at 0.050000 m/pix
[ INFO] [1443080610.108036362]: Using plugin "obstacle_layer"
[ INFO] [1443080610.109492768]:     Subscribed to Topics: 
[ INFO] [1443080610.133118602]: Using plugin "inflation_layer"
[ INFO] [1443080610.236097801]: Loading from pre-hydro parameter style
[ INFO] [1443080610.258061420]: Using plugin "obstacle_layer"
[ INFO] [1443080610.299471230]:     Subscribed to Topics: 
[ INFO] [1443080610.321083707]: Using plugin "inflation_layer"
[ INFO] [1443080610.409302620]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1443080610.415379320]: Sim period is set to 0.05
[ WARN] [1443080610.418524649]: 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] [1443080610.596477038]: Recovery behavior will clear layer obstacles
[ INFO] [1443080610.638964815]: Recovery behavior will clear layer obstacles
[ INFO] [1443080610.664383688]: odom received!
[INFO] [WallTime: 1443080610.823138] Initialized
[INFO] [WallTime: 1443080610.823563] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1443080611.205607] Gateway : sending flip request [alien-wired0036c88ce7bb420f955b5541d657bc6b][subscriber][/annotation/tables][/young/waiter_soft,http://192.168.10.23:60122/]
[INFO] [WallTime: 1443080611.209537] Gateway : sending flip request [alien-wired0036c88ce7bb420f955b5541d657bc6b][subscriber][/annotation/ar_markers][/young/waiter_soft,http://192.168.10.23:60122/]
[INFO] [WallTime: 1443080611.213558] Gateway : sending flip request [alien-wired0036c88ce7bb420f955b5541d657bc6b][publisher][/young/robot_status][/young/waiter_soft,http://192.168.10.23:60122/]
[INFO] [WallTime: 1443080611.794017] /young/waiter_soft : received global markers
[INFO] [WallTime: 1443080611.794550] /young/waiter_soft : received waypoint locations
[INFO] [WallTime: 1443080612.824651] /young/waiter_soft : Waiting for locations and global markers
[INFO] [WallTime: 1443080612.833701] /young/waiter_soft : Delivery robot has been started
[INFO] [WallTime: 1443080613.307539] Gateway : sending flip request [alien-wired0036c88ce7bb420f955b5541d657bc6b][action_server][/p2p_delivery_order_36a2cd13d85f42fea4a25777c9cdeef4][/young/waiter_soft,http://192.168.10.23:60122/]
[INFO] [WallTime: 1443080616.433120] /young/waiter_soft : Order Received [sw_team -> svc_team]
[ERROR] [WallTime: 1443080648.488006] Exception in your execute callback: process_status() takes exactly 6 arguments (5 given)
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 61, in execute_callback
    self.process_status(time_range=[time_start, time_end], order_id=order_id, target_goal=caller, status=P2PDeliveryStatus.WAITING_FOR_PICKUP_CONFIRM)
TypeError: process_status() takes exactly 6 arguments (5 given)

hughie commented 8 years ago

Client log

[INFO] [WallTime: 1443083487.558641] /young/waiter_soft : Order Received [sw_team -> svc_team]
[INFO] [WallTime: 1443083520.511811] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443083521.513254] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443083522.514719] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443083523.516188] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443083524.517639] /young/waiter_soft : HELLOW, [5/5]
[ERROR] [WallTime: 1443083547.371017] Exception in your execute callback: global name 'receiver' is not defined
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 71, in execute_callback
    self.process_status(time_range=[time_start, time_end], order_id=order_id, target_goal=receiver, status=P2PDeliveryStatus.WAITING_FOR_RECEIVER_CONFIRM, message=message)
NameError: global name 'receiver' is not defined

hughie commented 8 years ago

Client log

[INFO] [WallTime: 1443083862.428020] /young/waiter_soft : Order Received [sw_team -> svc_team]
[INFO] [WallTime: 1443083895.347232] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443083896.348839] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443083897.350573] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443083898.351784] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443083899.353151] /young/waiter_soft : HELLOW, [5/5]
[INFO] [WallTime: 1443083923.289505] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443083924.290934] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443083925.291886] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443083926.292613] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443083927.294060] /young/waiter_soft : HELLOW, [5/5]
[ERROR] [WallTime: 1443083927.294821] Exception in your execute callback: global name 'target_goal' is not defined
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 74, in execute_callback
    self.feedback(order_id, target_goal, P2PDeliveryStatus.COMPLETE_DELIVERY, "COMPLETE_DELIVERY")
NameError: global name 'target_goal' is not defined

hughie commented 8 years ago

Client log

INFO] [WallTime: 1443084710.212834] /young/waiter_soft : Delivery robot has been started
[INFO] [WallTime: 1443084710.865888] Gateway : sending flip request [alien-wired8d3edcd01c294010b2e77f2ded33fb1b][action_server][/p2p_delivery_order_f9e6cd8c106241f680562d252bf04ca6][/young/waiter_soft,http://192.168.10.23:59913/]
[INFO] [WallTime: 1443084713.735883] /young/waiter_soft : Order Received [sw_team -> svc_team]
[INFO] [WallTime: 1443084746.752795] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443084747.754365] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443084748.755571] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443084749.757089] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443084750.758065] /young/waiter_soft : HELLOW, [5/5]
[INFO] [WallTime: 1443084774.412627] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443084775.414117] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443084776.415827] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443084777.417005] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443084778.418531] /young/waiter_soft : HELLOW, [5/5]
[ERROR] [WallTime: 1443084778.419259] Exception in your execute callback: 'P2PDeliveryRobot' object has no attribute 'publisher'
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 75, in execute_callback
    self.publisher['robot_status'].publish(RobotStatus(P2PDeliveryStatus.COMPLETE_DELIVERY, self.battery_status))
AttributeError: 'P2PDeliveryRobot' object has no attribute 'publisher'

hughie commented 8 years ago

Client log

[INFO] [WallTime: 1443084958.054449] /young/waiter_soft : Order Received [sw_team -> svc_team]
[INFO] [WallTime: 1443084991.109577] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443084992.110755] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443084993.112347] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443084994.113585] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443084995.115008] /young/waiter_soft : HELLOW, [5/5]
[INFO] [WallTime: 1443085018.983341] /young/waiter_soft : HELLOW, [1/5]
[INFO] [WallTime: 1443085019.984805] /young/waiter_soft : HELLOW, [2/5]
[INFO] [WallTime: 1443085020.986154] /young/waiter_soft : HELLOW, [3/5]
[INFO] [WallTime: 1443085021.987645] /young/waiter_soft : HELLOW, [4/5]
[INFO] [WallTime: 1443085022.989180] /young/waiter_soft : HELLOW, [5/5]
[INFO] [WallTime: 1443085049.997530] /young/waiter_soft : IDLE
[ERROR] [WallTime: 1443085050.999493] Exception in your execute callback: global name 'P2PRobotDeliveryOrderResult' is not defined
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 299, in executeLoop
    self.execute_callback(goal)
  File "/home/yujin/ros/headoffice_concert/src/concert_common_rapps/concert_demo_sim_rapps/scripts/p2p_delivery_robot_soft.py", line 86, in execute_callback
    result = P2PRobotDeliveryOrderResult(order_id, True, "Success!")
NameError: global name 'P2PRobotDeliveryOrderResult' is not defined

hughie commented 8 years ago

Fixed bugs :)

https://github.com/robotics-in-concert/rocon_demos/commit/b622d3614d71f2ec5f0e7a60a874cd16e1d929d5

robotics-in-concert / rocon_demos

P2Pdelivery service] waiterbot(sim) p2p_delivery_robot_soft.py has no attribute 'goto' #69