Error log "rosrun aero_samples fullbody_test"

[hi-kondo]

Enviroment: Ubuntu14.04 ros-distribution:indigo

$ rosrun aero_samples fullbody_test_node [ INFO] [1522983840.352806100]: start creating robot_interface [ INFO] [1522983843.398563766]: start loading robot model [ INFO] [1522983843.418023712]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983844.325915073]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983844.939176552]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983845.568748900]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983846.202661303]: Group 'both_arms' is not a chain [ERROR] [1522983846.202700937]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms' [ERROR] [1522983846.203445120]: Kinematics solver could not be instantiated for joint group both_arms. [ INFO] [1522983846.215857656]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983846.849416289]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983847.443749669]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983848.048659079]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983848.695245075]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983849.283694299]: Group 'both_arms_with_waist' is not a chain [ERROR] [1522983849.283739251]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms_with_waist' [ERROR] [1522983849.284728726]: Kinematics solver could not be instantiated for joint group both_arms_with_waist. [ INFO] [1522983849.296707614]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983849.907109195]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983850.511915235]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983851.114191571]: Group 'rarm_with_lifter' is not a chain [ERROR] [1522983851.114236395]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'rarm_with_lifter' [ERROR] [1522983851.115270550]: Kinematics solver could not be instantiated for joint group rarm_with_lifter. [ INFO] [1522983851.126444173]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983851.772720654]: Group 'larm_with_lifter' is not a chain [ERROR] [1522983851.772752609]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'larm_with_lifter' [ERROR] [1522983851.773197468]: Kinematics solver could not be instantiated for joint group larm_with_lifter. [ INFO] [1522983851.786104353]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983852.418702317]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522983853.032573809]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983853.646187086]: Group 'upper_body' is not a chain [ERROR] [1522983853.646250365]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'upper_body' [ERROR] [1522983853.647176714]: Kinematics solver could not be instantiated for joint group upper_body. [ INFO] [1522983853.658465611]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522983854.250351145]: Group 'whole_body' is not a chain [ERROR] [1522983854.250386052]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'whole_body' [ERROR] [1522983854.251496664]: Kinematics solver could not be instantiated for joint group whole_body. [ INFO] [1522983854.251963932]: start loading joint model groups

[ INFO] [1522983854.252072675]: AERO MOVEIT INTERFACE is initialized

[ WARN] [1522983854.252291542]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [ INFO] [1522983854.252366099]: --- RESET MANIP POSE --- [ INFO] [1522983863.407573888]: --- ELBOW JOINTS --- [ INFO] [1522983864.911381919]: --- SHOULDER PITCH JOINT --- [ INFO] [1522983866.413104851]: --- SHOULDER ROLL JOINT --- [ INFO] [1522983867.916126728]: --- SHOULDER YAW JOINTS --- [ INFO] [1522983869.368963620]: --- RESET MANIP POSE --- [ INFO] [1522983872.471343174]: --- WRIST ROLL JOINTS --- [ INFO] [1522983874.523520502]: --- WRIST YAW JOINTS --- [ INFO] [1522983876.626500064]: --- looking at left hand --- [ WARN] [1522983876.626736766]: aero::Vector3 aero::interface::AeroMoveitInterface::getEEFPosition(aero::arm, aero::eef) : this method is deprecated [ INFO] [1522983876.627133632]: setTrackingMode is 0 in setLookAt, looking for 0.374257 0.196091 1.394843 in base [ INFO] [1522983877.733824279]: --- testing left hand --- [ INFO] [1522983884.400417371]: --- looking at right hand --- [ WARN] [1522983884.400654602]: aero::Vector3 aero::interface::AeroMoveitInterface::getEEFPosition(aero::arm, aero::eef) : this method is deprecated [ INFO] [1522983884.401035191]: setTrackingMode is 0 in setLookAt, looking for 0.374257 -0.196089 1.394843 in base [ INFO] [1522983885.457807031]: --- testing right hand --- [ INFO] [1522983892.184002096]: --- reseting robot pose --- [ INFO] [1522983894.287857135]: --- WAIST YAW JOINT 0 --- [ INFO] [1522983896.340413426]: --- WAIST YAW JOINT 1 --- [ INFO] [1522983899.442959164]: --- WAIST YAW JOINT 2 --- [ INFO] [1522983901.495408677]: --- WAIST PITCH JOINT --- [ INFO] [1522983903.547883865]: --- RESET MANIP POSE --- [ INFO] [1522983905.651551152]: lifter x:0.0 z:-0.4 [ INFO] [1522983909.209187891]: lifter x:0.0 z:-0.2 [ INFO] [1522983912.813210092]: lifter x:-0.1 z:-0.2 [ INFO] [1522983916.422763150]: lifter x:0.1 z:-0.2 [ INFO] [1522983920.028536212]: lifter x:0.0 z:0.0 [ INFO] [1522983923.631313994]: demo node finished seed103@seed103:~/ros/indigo/devel$ rosrun aero_samples fullbody_test_node [ INFO] [1522987401.813760346]: start creating robot_interface [ INFO] [1522987405.146697188]: start loading robot model [ INFO] [1522987405.168533659]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987406.056591760]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987406.669107265]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987407.279034331]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987407.897482110]: Group 'both_arms' is not a chain [ERROR] [1522987407.897535939]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms' [ERROR] [1522987407.898155011]: Kinematics solver could not be instantiated for joint group both_arms. [ INFO] [1522987407.909764677]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987408.530606032]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987409.165367071]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987409.804302023]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987410.426081644]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987411.030537831]: Group 'both_arms_with_waist' is not a chain [ERROR] [1522987411.030569558]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms_with_waist' [ERROR] [1522987411.031557642]: Kinematics solver could not be instantiated for joint group both_arms_with_waist. [ INFO] [1522987411.042276005]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987411.681572572]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987412.283243806]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987412.875838049]: Group 'rarm_with_lifter' is not a chain [ERROR] [1522987412.875878164]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'rarm_with_lifter' [ERROR] [1522987412.876404212]: Kinematics solver could not be instantiated for joint group rarm_with_lifter. [ INFO] [1522987412.888194090]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987413.478120326]: Group 'larm_with_lifter' is not a chain [ERROR] [1522987413.478173105]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'larm_with_lifter' [ERROR] [1522987413.478728067]: Kinematics solver could not be instantiated for joint group larm_with_lifter. [ INFO] [1522987413.489667432]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987414.116266883]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522987414.727099885]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987415.349907847]: Group 'upper_body' is not a chain [ERROR] [1522987415.349971633]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'upper_body' [ERROR] [1522987415.350625072]: Kinematics solver could not be instantiated for joint group upper_body. [ INFO] [1522987415.361119545]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522987415.950690421]: Group 'whole_body' is not a chain [ERROR] [1522987415.950738121]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'whole_body' [ERROR] [1522987415.951252618]: Kinematics solver could not be instantiated for joint group whole_body. [ INFO] [1522987415.952136769]: start loading joint model groups

[ INFO] [1522987415.952256977]: AERO MOVEIT INTERFACE is initialized

[ WARN] [1522987415.952453348]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [ INFO] [1522987415.952501498]: --- RESET MANIP POSE --- [ INFO] [1522987425.107825036]: --- ELBOW JOINTS --- [ INFO] [1522987426.611266654]: --- SHOULDER PITCH JOINT --- [ INFO] [1522987428.064353521]: --- SHOULDER ROLL JOINT --- [ INFO] [1522987429.517214129]: --- SHOULDER YAW JOINTS --- [ INFO] [1522987431.020252464]: --- RESET MANIP POSE --- [ INFO] [1522987434.073058935]: --- WRIST ROLL JOINTS --- [ INFO] [1522987436.125746932]: --- WRIST YAW JOINTS --- [ INFO] [1522987438.228724369]: --- looking at left hand --- [ WARN] [1522987438.228792584]: aero::Vector3 aero::interface::AeroMoveitInterface::getEEFPosition(aero::arm, aero::eef) : this method is deprecated [ INFO] [1522987438.228994433]: setTrackingMode is 0 in setLookAt, looking for 0.374257 0.196091 1.394843 in base [ INFO] [1522987439.282529317]: --- testing left hand --- [ INFO] [1522987446.054728401]: --- looking at right hand --- [ WARN] [1522987446.054781740]: aero::Vector3 aero::interface::AeroMoveitInterface::getEEFPosition(aero::arm, aero::eef) : this method is deprecated [ INFO] [1522987446.054871256]: setTrackingMode is 0 in setLookAt, looking for 0.374257 -0.196089 1.394843 in base [ INFO] [1522987447.157495828]: --- testing right hand --- [ INFO] [1522987453.821153475]: --- reseting robot pose --- [ INFO] [1522987455.923661111]: --- WAIST YAW JOINT 0 --- [ INFO] [1522987457.978140549]: --- WAIST YAW JOINT 1 --- [ INFO] [1522987461.029872392]: --- WAIST YAW JOINT 2 --- [ INFO] [1522987463.133406180]: --- WAIST PITCH JOINT --- [ INFO] [1522987465.185558943]: --- RESET MANIP POSE --- [ INFO] [1522987467.238702003]: lifter x:0.0 z:-0.4 [ INFO] [1522987470.842913114]: lifter x:0.0 z:-0.2 [ INFO] [1522987474.447515273]: lifter x:-0.1 z:-0.2 [ INFO] [1522987478.004636531]: lifter x:0.1 z:-0.2 [ INFO] [1522987481.562868388]: lifter x:0.0 z:0.0 [ INFO] [1522987485.164876096]: demo node finished

Neck, waist, lifter correctly moved in rviz.

[YoheiKakiuchi]

Sorry, I already caught the problem. https://github.com/seed-solutions/aero-ros-pkg/pull/321 will fix the problem.

[hi-kondo]

After git pull "aero-ros-pkg", roslaunch aero_startup aero_bringup.launch, these errors sometimes show

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[aero_ros_controller-1]: started with pid [19313] process[aero_state_publisher-2]: started with pid [19314] process[cm_spawner-3]: started with pid [19315] process[aero_hand_controller-4]: started with pid [19317] [ INFO] [1522996310.771999826]: upper_port: /dev/aero_upper [ INFO] [1522996310.772149392]: lower_port: /dev/aero_lower [ INFO] [1522996310.772220089]: cycle: 66.666000 [ms], overlap_scale 2.000000 could not open /dev/aero_upper Proto: ERROR: invalid header could not open /dev/aero_lower Proto: ERROR: invalid header [ INFO] [1522996312.849810789]: ControllerManager start with 15.000150 Hz [ERROR] [1522996313.042819203]: Could not stop controller with name joint_state_controller because no controller with this name exists [ERROR] [1522996313.046113035]: Could not unload controller with name rhand_controller because no controller with this name exists [ERROR] [1522996313.048056311]: Could not unload controller with name lhand_controller because no controller with this name exists [ERROR] [1522996313.049937456]: Could not unload controller with name lifter_controller because no controller with this name exists [ERROR] [1522996313.051745308]: Could not unload controller with name waist_controller because no controller with this name exists [ERROR] [1522996313.053594526]: Could not unload controller with name head_controller because no controller with this name exists [ERROR] [1522996313.055724108]: Could not unload controller with name rarm_controller because no controller with this name exists [ERROR] [1522996313.057547954]: Could not unload controller with name larm_controller because no controller with this name exists [ERROR] [1522996313.059368092]: Could not unload controller with name joint_state_controller because no controller with this name exists [ WARN] [1522996314.965900086]: AeroGrasp: Grasp pos: 27, script 4, power: 25630 [ WARN] [1522996314.965933844]: AeroGrasp: setMaxSingleCurrent [ WARN] [1522996315.166075137]: AeroGrasp: handScript [ WARN] [1522996315.166154167]: AeroGrasp: End Grasp [ WARN] [1522996315.167842533]: AeroGrasp: Grasp pos: 12, script 4, power: 25630 [ WARN] [1522996315.167883548]: AeroGrasp: setMaxSingleCurrent [ WARN] [1522996315.368026188]: AeroGrasp: handScript [ WARN] [1522996315.368076534]: AeroGrasp: End Grasp [ INFO] [1522996315.368301678]: Initialized Handcontroller [ INFO] [1522996319.657625913]: max: 66.833941 [ms], ave: 66.745679 [ms] [ INFO] [1522996326.399180246]: max: 66.870948 [ms], ave: 66.746468 [ms]

and urdf model does not appear

[hi-kondo]

I changed Robot Description from aero_description to robot_description, robot model appeared in rviz. And "rosrun aero_samples fullbody_test", all motion moved.

However, these error have appeared. [ INFO] [1522996937.711213371]: start creating robot_interface [ INFO] [1522996941.002972852]: start loading robot model [ INFO] [1522996941.014939877]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996941.963400496]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996942.595896920]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996943.206080577]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996943.839559679]: Group 'both_arms' is not a chain [ERROR] [1522996943.839597041]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms' [ERROR] [1522996943.840184129]: Kinematics solver could not be instantiated for joint group both_arms. [ INFO] [1522996943.850377809]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996944.473947218]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996945.099647886]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996945.729411247]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996946.356892999]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996946.973001444]: Group 'both_arms_with_waist' is not a chain [ERROR] [1522996946.973037350]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'both_arms_with_waist' [ERROR] [1522996946.973571626]: Kinematics solver could not be instantiated for joint group both_arms_with_waist. [ INFO] [1522996946.984436930]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996947.615639751]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996948.273133385]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996948.886882142]: Group 'rarm_with_lifter' is not a chain [ERROR] [1522996948.886932963]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'rarm_with_lifter' [ERROR] [1522996948.888368274]: Kinematics solver could not be instantiated for joint group rarm_with_lifter. [ INFO] [1522996948.899979775]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996949.510218131]: Group 'larm_with_lifter' is not a chain [ERROR] [1522996949.510295643]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'larm_with_lifter' [ERROR] [1522996949.511710264]: Kinematics solver could not be instantiated for joint group larm_with_lifter. [ INFO] [1522996949.522633144]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996950.133308884]: Loading robot model 'AeroUpperRobot'... [ INFO] [1522996950.741808001]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996951.326729572]: Group 'upper_body' is not a chain [ERROR] [1522996951.326769455]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'upper_body' [ERROR] [1522996951.327739956]: Kinematics solver could not be instantiated for joint group upper_body. [ INFO] [1522996951.337644787]: Loading robot model 'AeroUpperRobot'... [ERROR] [1522996951.958017581]: Group 'whole_body' is not a chain [ERROR] [1522996951.958053244]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'whole_body' [ERROR] [1522996951.959285223]: Kinematics solver could not be instantiated for joint group whole_body.