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ros-industrial-consortium / godel

ROS-Industrial Focused Technical Project: Robotic Blending
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surface_blending_service HAS DIED #237

Open oriolorra opened 6 years ago

oriolorra commented 6 years ago

Hi

I am trying to execute:

roslaunch godel_irb400_support irb2400_blending.launch

Seems that everything is working fine, but when I click NEXT, the surface_blending_service dies.

[ INFO] [1506608522.209167398]: TrajectoryExecution will use old service capability.
[ INFO] [1506608522.209320513]: Ready to take MoveGroup commands for group manipulator_asus.
[ INFO] [1506608522.214329036]: Surface detection service initialization succeeded
[ INFO] [1506608522.228328702]: BLENDING SERVICE INIT SUCCESSFUL!
[ INFO] [1506608523.728139358]: Initializing RobotBlendingPanel
[ INFO] [1506608523.736156374]: rviz blending panel connecting to services
[ INFO] [1506608523.736478166]: rviz RobotBlendingPanel reading config file
[ INFO] [1506608523.736514386]: rviz RobotBlendingPanel Finished reading config file
[ INFO] [1506608523.747036337]: rviz panel connected to the services '/surface_detection' and '/select_surface'
[ INFO] [1506608523.753491598]: Computing cartesian path for a trajectory with 3 points, eef_step: 0.25
[ INFO] [1506608523.753550943]: Computing cartesian path for link 'kinect2_move_frame'
[ INFO] [1506608523.793127066]: Loaded simple blending panel
[ INFO] [1506608523.809618809]: Initializng simple blending panel
[ INFO] [1506608524.757070779]: Call to service for parameters succeeded
[ INFO] [1506608529.468219173]: Computing cartesian path for a trajectory with 3 points, eef_step: 0.25
[ INFO] [1506608529.468278378]: Computing cartesian path for link 'kinect2_move_frame'
[ INFO] [1506608530.469432948]: Starting scan
[ INFO] [1506608530.469555608]: Computing cartesian path for a trajectory with 3 points, eef_step: 0.25
[ INFO] [1506608530.469574747]: Computing cartesian path for link 'kinect2_move_frame'
[ INFO] [1506608530.730546035]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1506608530.730732267]: Found empty JointState message
[ERROR] [1506608530.730769469]: Found empty JointState message
[ERROR] [1506608530.731031136]: Found empty JointState message
[ERROR] [1506608530.731561585]: Found empty JointState message
[ INFO] [1506608530.732103099]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1506608530.732179170]: Planner configuration 'manipulator_asus[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1506608530.732607168]: manipulator_asus[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1506608530.757521337]: manipulator_asus[RRTConnectkConfigDefault]: Created 38 states (2 start + 36 goal)
[ INFO] [1506608530.757805528]: Solution found in 0.025278 seconds
[ INFO] [1506608530.758721385]: SimpleSetup: Path simplification took 0.000412 seconds and changed from 37 to 2 states
[ INFO] [1506608530.766849228]: Received new trajectory execution service request...
[ INFO] [1506608533.795369315]: Execution completed: SUCCEEDED
[ INFO] [1506608535.139237040]: Cloud message received, converting to target frame 'world_frame'
[ INFO] [1506608535.145044626]: Concatenated new cloud to acquired clouds
[ INFO] [1506608535.145107898]: Surface Detection is currently holding 1 point clouds
[ INFO] [1506608535.646322044]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1506608535.646409627]: Found empty JointState message
[ERROR] [1506608535.646442391]: Found empty JointState message
[ERROR] [1506608535.646575554]: Found empty JointState message
[ERROR] [1506608535.646795942]: Found empty JointState message
[ INFO] [1506608535.647020050]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1506608535.647057322]: Planner configuration 'manipulator_asus[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1506608535.647245857]: manipulator_asus[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1506608535.668781383]: manipulator_asus[RRTConnectkConfigDefault]: Created 12 states (2 start + 10 goal)
[ INFO] [1506608535.668924003]: Solution found in 0.021738 seconds
[ INFO] [1506608535.669056113]: SimpleSetup: Path simplification took 0.000027 seconds and changed from 11 to 2 states
[ INFO] [1506608535.679002428]: Received new trajectory execution service request...
[ INFO] [1506608536.997850271]: Execution completed: SUCCEEDED
[ INFO] [1506608538.344389719]: Cloud message received, converting to target frame 'world_frame'
[ INFO] [1506608538.350559515]: Concatenated new cloud to acquired clouds
[ INFO] [1506608538.350810162]: Surface Detection is currently holding 2 point clouds
[ INFO] [1506608538.852119088]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1506608538.852213722]: Found empty JointState message
[ERROR] [1506608538.852243289]: Found empty JointState message
[ERROR] [1506608538.852386201]: Found empty JointState message
[ERROR] [1506608538.852767721]: Found empty JointState message
[ INFO] [1506608538.853022208]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1506608538.853091165]: Planner configuration 'manipulator_asus[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1506608538.853325808]: manipulator_asus[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1506608538.874681433]: manipulator_asus[RRTConnectkConfigDefault]: Created 10 states (2 start + 8 goal)
[ INFO] [1506608538.874853490]: Solution found in 0.021628 seconds
[ INFO] [1506608538.874974589]: SimpleSetup: Path simplification took 0.000023 seconds and changed from 9 to 2 states
[ INFO] [1506608538.884455319]: Received new trajectory execution service request...
[ INFO] [1506608539.996342930]: Execution completed: SUCCEEDED
[ INFO] [1506608541.154254578]: Cloud message received, converting to target frame 'world_frame'
[ INFO] [1506608541.164176529]: Concatenated new cloud to acquired clouds
[ INFO] [1506608541.164237485]: Surface Detection is currently holding 3 point clouds
[ INFO] [1506608541.665204830]: Scan points reached 3
[ INFO] [1506608541.675647271]: Surface detection processing a cloud containing 124494 points
[ INFO] [1506608541.675898399]: Voxel downsampling with filter limits min: -3.40282e+38, max: 3.40282e+38
[ INFO] [1506608541.700390235]: Voxel downsampling succeeded, downsampled cloud size: 3485
[ WARN] [1506608541.700540160]: Tabletop segmentation skipped
[ INFO] [1506608541.700573001]: Statistical filter started with 3485 points
[ INFO] [1506608541.707472724]: Statistical filter completed with 3485 points
[ INFO] [1506608541.722495949]: Normal estimation succeeded
[ INFO] [1506608541.744870594]: Region growing succeeded
[ INFO] [1506608541.744935365]: Total surface clusters found: 3
[ INFO] [1506608541.745450578]: Total ungrouped points: 0
[ INFO] [1506608541.745485045]: Valid surface clusters kept :3
[ WARN] [1506608542.081888729]: Unable to call surface detection service
[surface_blending_service-11] process has died [pid 31875, exit code -11, cmd /home/oorra/godel_ws/devel/lib/godel_surface_detection/surface_blending_service __name:=surface_blending_service __log:=/home/oorra/.ros/log/626b83aa-a458-11e7-b88d-f8cab827df84/surface_blending_service-11.log].
log file: /home/oorra/.ros/log/626b83aa-a458-11e7-b88d-f8cab827df84/surface_blending_service-11*.log

Anyone knows where is the issue?

Thanks in advance,

Oriol godel_error_service

melvinma commented 5 years ago

I am new to this one. But it appears that exit code -11 means out of memory in my other use case.