apt-get upgradeしたらjaxonがヘタるようになった。

YuOhara commented 8 years ago

ヘタるようになってしまいました。 apt-get upgradeしたあとだと思うのですが、何かわかりますでしょうか？

^[[A^[[Aleus@leus-HP-Z620-Workstation:~$ roslaunch hrpsys_ros_bridge_jvrc jaxon_reonoid.launch TASK:=VALVE
WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
... logging to /home/leus/.ros/log/cd3842ac-8ec2-11e5-8716-a0481cabf72f/roslaunch-leus-HP-Z620-Workstation-36461.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://133.11.216.41:34557/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /chest_camera/CHESTCAMERA/camera_param_K: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/camera_param_P: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/frame_id: CHEST_CAMERA
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /larm_camera/LARMCAMERA/camera_param_K: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/camera_param_P: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/frame_id: LARM_CAMERA
 * /larm_camera_n/LARMCAMERAN/camera_param_K: [417.031, 0, 319....
 * /larm_camera_n/LARMCAMERAN/camera_param_P: [417.031, 0, 319....
 * /larm_camera_n/LARMCAMERAN/frame_id: LARM_CAMERA_N
 * /multisense/left/HEADLEFT/camera_param_K: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/camera_param_P: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/publish_depth: True
 * /multisense/pointcloud_bridge/transformed_camera_frame: True
 * /multisense/range_bridge/frame_id: head_hokuyo_frame
 * /multisense/range_bridge/intensity: 1000
 * /rarm_camera/RARMCAMERA/camera_param_K: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/camera_param_P: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/frame_id: RARM_CAMERA
 * /rarm_camera_n/RARMCAMERAN/camera_param_K: [879.192, 0, 319....
 * /rarm_camera_n/RARMCAMERAN/camera_param_P: [879.192, 0, 319....
 * /rarm_camera_n/RARMCAMERAN/frame_id: RARM_CAMERA_N
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /use_sim_time: True

NODES
  /chest_camera/
    CHESTCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /multisense/
    pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge)
    range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge)
  /
    AutoBalancerServiceROSBridge (hrpsys_ros_bridge/AutoBalancerServiceROSBridgeComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    EmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HardEmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp)
    KalmanFilterServiceROSBridge (hrpsys_ros_bridge/KalmanFilterServiceROSBridgeComp)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StabilizerServiceROSBridge (hrpsys_ros_bridge/StabilizerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    choreonoid (hrpsys_choreonoid/run_choreonoid.sh)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    footcoords (jsk_footstep_controller/footcoords)
    head_left_frame_id (tf/static_transform_publisher)
    head_range_frame_id (tf/static_transform_publisher)
    head_root_frame_id (tf/static_transform_publisher)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hrpsys_ros_bridge_jvrc/jaxon_jvrc_hrpsys_config.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    rtmlaunch_vision_connect (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
    stabilizer_watcher (jsk_footstep_controller/stabilizer_watcher.py)
  /rarm_camera_n/
    RARMCAMERAN (hrpsys_ros_bridge/ImageSensorROSBridge)
  /larm_camera/
    LARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /multisense/left/
    HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge)
  /rarm_camera/
    RARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /larm_camera_n/
    LARMCAMERAN (hrpsys_ros_bridge/ImageSensorROSBridge)

WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERAN" ns="larm_camera_n" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA_N"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA_N" to="LARMCAMERAN.rtc:timedImage"/>
    <rtactivate component="LARMCAMERAN.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERAN" ns="larm_camera_n" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA_N"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA_N" to="LARMCAMERAN.rtc:timedImage"/>
    <rtactivate component="LARMCAMERAN.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERAN" ns="rarm_camera_n" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA_N"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA_N" to="RARMCAMERAN.rtc:timedImage"/>
    <rtactivate component="RARMCAMERAN.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERAN" ns="rarm_camera_n" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA_N"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA_N" to="RARMCAMERAN.rtc:timedImage"/>
    <rtactivate component="RARMCAMERAN.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <rosparam param="camera_param_K">[240, 0, 319.5,  0, 240, 239.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[240, 0, 319.5, 0,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <rosparam param="camera_param_K">[240, 0, 319.5,  0, 240, 239.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[240, 0, 319.5, 0,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="head_hokuyo_frame"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="head_hokuyo_frame"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_image_points2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_image_points2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
auto-starting new master
process[master]: started with pid [36473]
ROS_MASTER_URI=http://133.11.216.41:11311

setting /run_id to cd3842ac-8ec2-11e5-8716-a0481cabf72f
process[rosout-1]: started with pid [36486]
started core service [/rosout]
process[modelloader-2]: started with pid [36510]
ready
process[choreonoid-3]: started with pid [36514]
$ choreonoid /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_VALVE.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
<BEGIN: rtc.conf>
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/leus/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
example.SequencePlayer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
<END: rtc.conf>
process[hrpsys_py-4]: started with pid [36522]
process[HrpsysSeqStateROSBridge-5]: started with pid [36523]
process[HrpsysJointTrajectoryBridge-6]: started with pid [36530]
process[hrpsys_state_publisher-7]: started with pid [36558]
loading /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[hrpsys_ros_diagnostics-8]: started with pid [36616]
process[diagnostic_aggregator-9]: started with pid [36632]
process[hrpsys_profile-10]: started with pid [36654]
process[sensor_ros_bridge_connect-11]: started with pid [36658]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [36661]
process[SequencePlayerServiceROSBridge-13]: started with pid [36671]
configuration ORB with localhost:2809
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
process[DataLoggerServiceROSBridge-14]: started with pid [36686]
process[ForwardKinematicsServiceROSBridge-15]: started with pid [36718]
process[StateHolderServiceROSBridge-16]: started with pid [36778]
process[AutoBalancerServiceROSBridge-17]: started with pid [36838]
process[StabilizerServiceROSBridge-18]: started with pid [36863]
process[KalmanFilterServiceROSBridge-19]: started with pid [36889]
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:2809
process[ImpedanceControllerServiceROSBridge-20]: started with pid [36922]
process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [36955]
process[EmergencyStopperServiceROSBridge-22]: started with pid [36981]
/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: 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.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
process[HardEmergencyStopperServiceROSBridge-23]: started with pid [37026]
process[footcoords-24]: started with pid [37048]
process[stabilizer_watcher-25]: started with pid [37068]
process[rtmlaunch_vision_connect-26]: started with pid [37069]
process[chest_camera/CHESTCAMERA-27]: started with pid [37070]
process[larm_camera/LARMCAMERA-28]: started with pid [37078]
process[larm_camera_n/LARMCAMERAN-29]: started with pid [37104]
[rtmlaunch] starting...  /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[ WARN] [1447940305.027463270]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME JAXON_JVRC
process[rarm_camera/RARMCAMERA-30]: started with pid [37163]
process[rarm_camera_n/RARMCAMERAN-31]: started with pid [37226]
[ INFO] [1447940305.074995211]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
loading /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[multisense/left/HEADLEFT-32]: started with pid [37271]
process[multisense/range_bridge-33]: started with pid [37303]
process[multisense/pointcloud_bridge-34]: started with pid [37364]
[ INFO] [1447940305.140861032]: [RangeSensorROSBridge] @Initilize name : RangeSensorROSBridge0
process[head_left_frame_id-35]: started with pid [37414]
[ INFO] [1447940305.169344604]: [PointCloudROSBridge] @Initilize name : PointCloudROSBridge0
process[head_range_frame_id-36]: started with pid [37467]
process[head_root_frame_id-37]: started with pid [37498]
/home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:66: 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.
  g_odom_init_trigger_pub = rospy.Publisher("/odom_init_trigger", Empty)
/home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:67: 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.
  g_robotsound_pub = rospy.Publisher("/robotsound", SoundRequest)
[ INFO] [1447940305.283074007]: [ImageSensorROSBridge] @Initilize name : CHESTCAMERA
[ INFO] [1447940305.302038841]: [ImageSensorROSBridge] @Initilize name : LARMCAMERA
[ INFO] [1447940305.327146658]: [ImageSensorROSBridge] @Initilize name : LARMCAMERAN
[rtmlaunch] starting...  /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/launch/vision_connect.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME Simulator
[ INFO] [1447940305.351981293]: [ImageSensorROSBridge] @Initilize name : RARMCAMERA
[ INFO] [1447940305.387549157]: [ImageSensorROSBridge] @Initilize name : RARMCAMERAN
[ INFO] [1447940305.393442108]: [ImageSensorROSBridge] @Initilize name : HEADLEFT
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        VisionSensorCHEST_CAMERA
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
            VisionSensorHEAD_LEFT_CAMERA
            VisionSensorHEAD_RIGHT_CAMERA
            Joint node motor_joint
              Segment node RANGE_LINK
              RangeSensorHEAD_RANGE
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
                        VisionSensorLARM_CAMERA
                        VisionSensorLARM_CAMERA_N
                        Joint node LARM_F_JOINT0
                          Segment node LARM_FINGER0
                        Joint node LARM_F_JOINT1
                          Segment node LARM_FINGER1
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
                        VisionSensorRARM_CAMERA
                        VisionSensorRARM_CAMERA_N
                        Joint node RARM_F_JOINT0
                          Segment node RARM_FINGER0
                        Joint node RARM_F_JOINT1
                          Segment node RARM_FINGER1
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Loading body customizer "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/JAXONCustomizer.so" for JAXON_JVRC
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/HoseCustomizer.so" for hose
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/CabinetBoxCustomizer.so" for CABINETBOX
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        VisionSensorCHEST_CAMERA
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
            VisionSensorHEAD_LEFT_CAMERA
            VisionSensorHEAD_RIGHT_CAMERA
            Joint node motor_joint
              Segment node RANGE_LINK
              RangeSensorHEAD_RANGE
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
                        VisionSensorLARM_CAMERA
                        VisionSensorLARM_CAMERA_N
                        Joint node LARM_F_JOINT0
                          Segment node LARM_FINGER0
                        Joint node LARM_F_JOINT1
                          Segment node LARM_FINGER1
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
                        VisionSensorRARM_CAMERA
                        VisionSensorRARM_CAMERA_N
                        Joint node RARM_F_JOINT0
                          Segment node RARM_FINGER0
                        Joint node RARM_F_JOINT1
                          Segment node RARM_FINGER1
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
create customizer : JAXON_JVRC
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
Manager not found
[hrpsys.py] wait for RTCmanager : None
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
The model was successfully loaded ! 
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 5, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
[ INFO] [1447940307.157123722]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
Manager not found
[hrpsys.py] wait for RTCmanager : None
The model was successfully loaded ! 
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 5, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
0 physical force sensor : rfsensor
1 physical force sensor : lfsensor
2 physical force sensor : rhsensor
3 physical force sensor : lhsensor
0 acceleration sensor : gsensor
0 rate sensor : gyrometer
[HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_JOINT5 WAIST
[HrpsysSeqStateROSBridge0]   target = RLEG_LINK5, sensor_name = rfsensor
[HrpsysSeqStateROSBridge0]   localPos =     [0,  0,  -0.1][m]
[HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_JOINT5 WAIST
[HrpsysSeqStateROSBridge0]   target = LLEG_LINK5, sensor_name = lfsensor
[HrpsysSeqStateROSBridge0]   localPos =     [0,  0,  -0.1][m]
[HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[HrpsysSeqStateROSBridge0]   target = RARM_LINK7, sensor_name = rhsensor
[HrpsysSeqStateROSBridge0]   localPos =     [0,  0.055,  -0.217][m]
[HrpsysSeqStateROSBridge0] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[HrpsysSeqStateROSBridge0]   target = LARM_LINK7, sensor_name = lhsensor
[HrpsysSeqStateROSBridge0]   localPos =     [0,  -0.055,  -0.217][m]
[ INFO] [1447940307.831579878]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC
[ INFO] [1447940307.831847207]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA   0 /30
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   0 /30
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA   1 /30
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   1 /30
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
Manager not found
[hrpsys.py] wait for RTCmanager : None
Manager not found
[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation
^C[head_root_frame_id-37] killing on exit
[head_range_frame_id-36] killing on exit
[head_left_frame_id-35] killing on exit
[multisense/pointcloud_bridge-34] killing on exit
[multisense/range_bridge-33] killing on exit
[multisense/left/HEADLEFT-32] killing on exit
[rarm_camera_n/RARMCAMERAN-31] killing on exit
[rarm_camera/RARMCAMERA-30] killing on exit
[larm_camera_n/LARMCAMERAN-29] killing on exit
[larm_camera/LARMCAMERA-28] killing on exit
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   2 /30
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA   2 /30
[chest_camera/CHESTCAMERA-27] killing on exit
[rtmlaunch_vision_connect-26] killing on exit
[stabilizer_watcher-25] killing on exit
[footcoords-24] killing on exit
[HardEmergencyStopperServiceROSBridge-23] killing on exit
[EmergencyStopperServiceROSBridge-22] killing on exit
[RemoveForceSensorLinkOffsetServiceROSBridge-21] killing on exit
[ImpedanceControllerServiceROSBridge-20] killing on exit
[KalmanFilterServiceROSBridge-19] killing on exit
[StabilizerServiceROSBridge-18] killing on exit
[AutoBalancerServiceROSBridge-17] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[ForwardKinematicsServiceROSBridge-15] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
[SequencePlayerServiceROSBridge-13] killing on exit
Manager not found
[hrpsys.py] wait for RTCmanager : None
[rtmlaunch_hrpsys_ros_bridge-12] killing on exit
[sensor_ros_bridge_connect-11] killing on exit
[hrpsys_profile-10] killing on exit
[diagnostic_aggregator-9] killing on exit
Traceback (most recent call last):
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 60, in <module>
    initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 41, in initSensorRosBridgeConnection
    hcf.waitForRTCManagerAndRoboHardware(simulator_name, managerhost)
  File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 899, in waitForRTCManagerAndRoboHardware
    self.waitForRTCManager(managerhost)
  File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 839, in waitForRTCManager
Traceback (most recent call last):
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 85, in <module>
        rtc_init()
time.sleep(1)
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 29, in rtc_init
KeyboardInterrupt
    time.sleep(1);
KeyboardInterrupt
[hrpsys_ros_diagnostics-8] killing on exit
[hrpsys_state_publisher-7] killing on exit
[HrpsysJointTrajectoryBridge-6] killing on exit
[HrpsysSeqStateROSBridge-5] killing on exit
[ INFO] [1447940318.898408495]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
[hrpsys_py-4] killing on exit
Traceback (most recent call last):
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py", line 50, in <module>
    hcf.init(sys.argv[1], sys.argv[2])
  File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py", line 20, in init
    HrpsysConfigurator.init(self, robotname, url)
  File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2032, in init
    self.waitForRTCManagerAndRoboHardware(robotname)
  File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 899, in waitForRTCManagerAndRoboHardware
    self.waitForRTCManager(managerhost)
  File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 839, in waitForRTCManager
    time.sleep(1)
KeyboardInterrupt
[choreonoid-3] killing on exit
[modelloader-2] killing on exit

YuOhara commented 8 years ago

他のPCでも再現しました...

参考にならないかもしれませんが、一応 upgradeのlistは

^[[Aleus@leus-desktop:~/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_bridge_jvrc$ sudo apt-get upgrade
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Calculating upgrade... Done
The following packages have been kept back:
  libcuda1-346 linux-generic-lts-vivid linux-headers-generic-lts-vivid
  linux-image-generic-lts-vivid nvidia-346 nvidia-opencl-icd-346
  ros-indigo-robot-state-publisher
The following packages will be upgraded:
  apport apport-gtk choreonoid choreonoid-data firefox firefox-locale-en
  flashplugin-installer fonts-opensymbol gir1.2-vte-2.90 grub-common grub-pc
  grub-pc-bin grub2-common indicator-session krb5-locales krb5-multidev
  libcnoid-dev libcnoid1 libgssapi-krb5-2 libgssrpc4 libido3-0.1-0
  libk5crypto3 libkadm5clnt-mit9 libkadm5srv-mit9 libkdb5-7 libkrb5-3
  libkrb5-dev libkrb5support0 libminiupnpc8 libmtp-common libmtp-runtime
  libmtp9 libmysqlclient-dev libmysqlclient18 libnautilus-extension1a
  libnm-gtk-common libnm-gtk0 libnspr4 libnss3 libnss3-nssdb
  liboxideqt-qmlplugin liboxideqtcore0 liboxideqtquick0 libpoppler-glib8
  libpoppler44 libpython3.4 libpython3.4-minimal libpython3.4-stdlib
  libreoffice-avmedia-backend-gstreamer libreoffice-base-core libreoffice-calc
  libreoffice-common libreoffice-core libreoffice-draw libreoffice-gnome
  libreoffice-gtk libreoffice-impress libreoffice-math libreoffice-ogltrans
  libreoffice-pdfimport libreoffice-presentation-minimizer
  libreoffice-style-human libreoffice-writer libunity-core-6.0-9 libvte-2.90-9
  libvte-2.90-common libxml2 libxml2-dev libxml2-utils linux-firmware
  linux-libc-dev mysql-common nautilus nautilus-data network-manager-gnome
  notify-osd-icons ntpdate openjdk-7-jdk openjdk-7-jre openjdk-7-jre-headless
  openrtm-aist oxideqt-codecs poppler-utils python-libxml2 python-rospkg
  python-urllib3 python-urllib3-whl python3-apport python3-problem-report
  python3-software-properties python3-uno python3-urllib3 python3.4
  python3.4-minimal ros-indigo-actionlib ros-indigo-actionlib-msgs
  ros-indigo-actionlib-tutorials ros-indigo-allocators ros-indigo-amcl
  ros-indigo-angles ros-indigo-ar-track-alvar ros-indigo-ar-track-alvar-msgs
  ros-indigo-audio-common-msgs ros-indigo-axis-camera
  ros-indigo-base-local-planner ros-indigo-bfl ros-indigo-bond
  ros-indigo-bondcpp ros-indigo-bondpy ros-indigo-calibration-estimation
  ros-indigo-calibration-launch ros-indigo-calibration-msgs
  ros-indigo-camera-calibration-parsers ros-indigo-camera-info-manager
  ros-indigo-camera-info-manager-py ros-indigo-capabilities ros-indigo-catkin
  ros-indigo-class-loader ros-indigo-clear-costmap-recovery
  ros-indigo-cmake-modules ros-indigo-collada-parser ros-indigo-collada-urdf
  ros-indigo-compressed-image-transport ros-indigo-control-msgs
  ros-indigo-control-toolbox ros-indigo-controller-interface
  ros-indigo-controller-manager ros-indigo-controller-manager-msgs
  ros-indigo-controller-manager-tests ros-indigo-convex-decomposition
  ros-indigo-costmap-2d ros-indigo-cpp-common ros-indigo-create-description
  ros-indigo-create-driver ros-indigo-create-node ros-indigo-cv-bridge
  ros-indigo-depth-image-proc ros-indigo-depthimage-to-laserscan
  ros-indigo-diagnostic-aggregator ros-indigo-diagnostic-common-diagnostics
  ros-indigo-diagnostic-msgs ros-indigo-diagnostic-updater
  ros-indigo-diff-drive-controller ros-indigo-driver-base
  ros-indigo-dwa-local-planner ros-indigo-dynamic-reconfigure
  ros-indigo-dynamixel-controllers ros-indigo-dynamixel-driver
  ros-indigo-dynamixel-msgs ros-indigo-ecl-build ros-indigo-ecl-command-line
  ros-indigo-ecl-concepts ros-indigo-ecl-config ros-indigo-ecl-containers
  ros-indigo-ecl-converters ros-indigo-ecl-devices ros-indigo-ecl-eigen
  ros-indigo-ecl-errors ros-indigo-ecl-exceptions ros-indigo-ecl-formatters
  ros-indigo-ecl-geometry ros-indigo-ecl-license ros-indigo-ecl-linear-algebra
  ros-indigo-ecl-math ros-indigo-ecl-mobile-robot ros-indigo-ecl-mpl
  ros-indigo-ecl-sigslots ros-indigo-ecl-streams ros-indigo-ecl-threads
  ros-indigo-ecl-time ros-indigo-ecl-time-lite ros-indigo-ecl-type-traits
  ros-indigo-ecl-utilities ros-indigo-effort-controllers
  ros-indigo-eigen-conversions ros-indigo-eigen-stl-containers ros-indigo-eml
  ros-indigo-ethercat-hardware ros-indigo-ethercat-trigger-controllers
  ros-indigo-face-detector ros-indigo-fcl ros-indigo-filters
  ros-indigo-force-torque-sensor-controller
  ros-indigo-forward-command-controller ros-indigo-freenect-camera
  ros-indigo-freenect-launch ros-indigo-gateway-msgs ros-indigo-gazebo-msgs
  ros-indigo-gazebo-plugins ros-indigo-gazebo-ros
  ros-indigo-gazebo-ros-control ros-indigo-gencpp ros-indigo-genlisp
  ros-indigo-genmsg ros-indigo-genpy ros-indigo-geometric-shapes
  ros-indigo-geometry-msgs ros-indigo-gmapping
  ros-indigo-gripper-action-controller ros-indigo-hardware-interface
  ros-indigo-hokuyo-node ros-indigo-household-objects-database-msgs
  ros-indigo-humanoid-nav-msgs ros-indigo-image-cb-detector
  ros-indigo-image-geometry ros-indigo-image-proc ros-indigo-image-transport
  ros-indigo-image-view ros-indigo-imu-sensor-controller
  ros-indigo-interactive-marker-proxy ros-indigo-interactive-markers
  ros-indigo-interval-intersection ros-indigo-ivcon
  ros-indigo-joint-limits-interface ros-indigo-joint-state-controller
  ros-indigo-joint-state-publisher ros-indigo-joint-states-settler
  ros-indigo-joint-trajectory-action ros-indigo-joint-trajectory-controller
  ros-indigo-joint-trajectory-generator ros-indigo-joy
  ros-indigo-kdl-conversions ros-indigo-kdl-parser
  ros-indigo-kobuki-auto-docking ros-indigo-kobuki-bumper2pc
  ros-indigo-kobuki-capabilities ros-indigo-kobuki-description
  ros-indigo-kobuki-dock-drive ros-indigo-kobuki-driver ros-indigo-kobuki-ftdi
  ros-indigo-kobuki-keyop ros-indigo-kobuki-msgs ros-indigo-kobuki-node
  ros-indigo-kobuki-random-walker ros-indigo-kobuki-rapps
  ros-indigo-kobuki-safety-controller ros-indigo-laptop-battery-monitor
  ros-indigo-laser-assembler ros-indigo-laser-cb-detector
  ros-indigo-laser-filters ros-indigo-laser-geometry ros-indigo-laser-proc
  ros-indigo-leap-motion ros-indigo-leg-detector ros-indigo-libfreenect
  ros-indigo-lockfree ros-indigo-manipulation-msgs ros-indigo-map-laser
  ros-indigo-map-msgs ros-indigo-map-server ros-indigo-media-export
  ros-indigo-message-filters ros-indigo-message-generation
  ros-indigo-message-runtime ros-indigo-microstrain-3dmgx2-imu
  ros-indigo-mjpeg-server ros-indigo-mk ros-indigo-ml-classifiers
  ros-indigo-monocam-settler ros-indigo-move-base ros-indigo-move-base-msgs
  ros-indigo-moveit-commander ros-indigo-moveit-core
  ros-indigo-moveit-fake-controller-manager ros-indigo-moveit-msgs
  ros-indigo-moveit-planners ros-indigo-moveit-planners-ompl
  ros-indigo-moveit-plugins ros-indigo-moveit-resources ros-indigo-moveit-ros
  ros-indigo-moveit-ros-benchmarks ros-indigo-moveit-ros-benchmarks-gui
  ros-indigo-moveit-ros-manipulation ros-indigo-moveit-ros-move-group
  ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-planning
  ros-indigo-moveit-ros-planning-interface
  ros-indigo-moveit-ros-robot-interaction ros-indigo-moveit-ros-visualization
  ros-indigo-moveit-ros-warehouse ros-indigo-moveit-simple-controller-manager
  ros-indigo-naoqi-bridge-msgs ros-indigo-naoqi-driver
  ros-indigo-naoqi-driver-py ros-indigo-naoqi-libqi ros-indigo-naoqi-libqicore
  ros-indigo-naoqi-sensors-py ros-indigo-nav-core ros-indigo-nav-msgs
  ros-indigo-navfn ros-indigo-nodelet ros-indigo-nodelet-topic-tools
  ros-indigo-object-recognition-msgs ros-indigo-ocean-battery-driver
  ros-indigo-octomap ros-indigo-octomap-msgs ros-indigo-openni-camera
  ros-indigo-openni-launch ros-indigo-openni2-camera ros-indigo-openni2-launch
  ros-indigo-openslam-gmapping ros-indigo-orocos-kdl
  ros-indigo-pcl-conversions ros-indigo-pcl-msgs ros-indigo-pcl-ros
  ros-indigo-people-msgs ros-indigo-people-tracking-filter
  ros-indigo-pepper-bringup ros-indigo-pepper-description
  ros-indigo-pepper-sensors-py ros-indigo-pluginlib
  ros-indigo-pointcloud-to-laserscan ros-indigo-polled-camera
  ros-indigo-position-controllers ros-indigo-power-monitor
  ros-indigo-pr2-calibration-controllers ros-indigo-pr2-controller-interface
  ros-indigo-pr2-controller-manager ros-indigo-pr2-controllers-msgs
  ros-indigo-pr2-dashboard-aggregator ros-indigo-pr2-description
  ros-indigo-pr2-gripper-action ros-indigo-pr2-gripper-sensor-action
  ros-indigo-pr2-gripper-sensor-controller ros-indigo-pr2-gripper-sensor-msgs
  ros-indigo-pr2-hardware-interface ros-indigo-pr2-head-action
  ros-indigo-pr2-machine ros-indigo-pr2-mechanism-controllers
  ros-indigo-pr2-mechanism-diagnostics ros-indigo-pr2-mechanism-model
  ros-indigo-pr2-mechanism-msgs ros-indigo-pr2-moveit-plugins
  ros-indigo-pr2-msgs ros-indigo-pr2-power-board ros-indigo-prosilica-camera
  ros-indigo-prosilica-gige-sdk ros-indigo-ps3joy ros-indigo-python-orocos-kdl
  ros-indigo-python-qt-binding ros-indigo-qt-gui ros-indigo-qt-gui-cpp
  ros-indigo-qt-gui-py-common ros-indigo-random-numbers
  ros-indigo-realtime-tools ros-indigo-resource-retriever
  ros-indigo-rgbd-launch ros-indigo-robot-mechanism-controllers
  ros-indigo-robot-pose-ekf ros-indigo-rocon-app-manager
  ros-indigo-rocon-app-manager-msgs ros-indigo-rocon-app-utilities
  ros-indigo-rocon-apps ros-indigo-rocon-bubble-icons ros-indigo-rocon-console
  ros-indigo-rocon-ebnf ros-indigo-rocon-gateway
  ros-indigo-rocon-gateway-utils ros-indigo-rocon-hub
  ros-indigo-rocon-hub-client ros-indigo-rocon-icons
  ros-indigo-rocon-interaction-msgs ros-indigo-rocon-interactions
  ros-indigo-rocon-master-info ros-indigo-rocon-python-comms
  ros-indigo-rocon-python-redis ros-indigo-rocon-python-utils
  ros-indigo-rocon-python-wifi ros-indigo-rocon-semantic-version
  ros-indigo-rocon-service-pair-msgs ros-indigo-rocon-std-msgs
  ros-indigo-rocon-uri ros-indigo-ros-control ros-indigo-ros-controllers
  ros-indigo-rosapi ros-indigo-rosatomic ros-indigo-rosauth ros-indigo-rosbag
  ros-indigo-rosbag-migration-rule ros-indigo-rosbag-storage
  ros-indigo-rosbash ros-indigo-rosboost-cfg ros-indigo-rosbridge-library
  ros-indigo-rosbridge-server ros-indigo-rosbuild ros-indigo-rosclean
  ros-indigo-rosconsole ros-indigo-rosconsole-bridge ros-indigo-roscpp
  ros-indigo-roscpp-serialization ros-indigo-roscpp-traits
  ros-indigo-roscpp-tutorials ros-indigo-rosgraph ros-indigo-rosgraph-msgs
  ros-indigo-roslang ros-indigo-roslaunch ros-indigo-roslib ros-indigo-roslint
  ros-indigo-roslz4 ros-indigo-rosmake ros-indigo-rosmaster ros-indigo-rosmsg
  ros-indigo-rosnode ros-indigo-rosout ros-indigo-rospack ros-indigo-rosparam
  ros-indigo-rospy ros-indigo-rospy-tutorials ros-indigo-rosrt
  ros-indigo-rosservice ros-indigo-rostest ros-indigo-rostime
  ros-indigo-rostopic ros-indigo-rosunit ros-indigo-roswtf
  ros-indigo-rotate-recovery ros-indigo-rqt-bag ros-indigo-rqt-console
  ros-indigo-rqt-gui ros-indigo-rqt-gui-cpp ros-indigo-rqt-gui-py
  ros-indigo-rqt-image-view ros-indigo-rqt-joint-trajectory-controller
  ros-indigo-rqt-logger-level ros-indigo-rqt-nav-view ros-indigo-rqt-plot
  ros-indigo-rqt-py-common ros-indigo-rqt-reconfigure
  ros-indigo-rqt-robot-dashboard ros-indigo-rqt-robot-monitor ros-indigo-rviz
  ros-indigo-self-test ros-indigo-sensor-msgs ros-indigo-settlerlib
  ros-indigo-shape-msgs ros-indigo-shape-tools
  ros-indigo-single-joint-position-action ros-indigo-smach
  ros-indigo-smach-msgs ros-indigo-smach-ros ros-indigo-smart-battery-msgs
  ros-indigo-smclib ros-indigo-social-navigation-layers ros-indigo-sound-play
  ros-indigo-spacenav-node ros-indigo-srdfdom ros-indigo-stage
  ros-indigo-std-capabilities ros-indigo-std-msgs ros-indigo-std-srvs
  ros-indigo-stereo-image-proc ros-indigo-stereo-msgs ros-indigo-tf
  ros-indigo-tf-conversions ros-indigo-tf2 ros-indigo-tf2-geometry-msgs
  ros-indigo-tf2-msgs ros-indigo-tf2-py ros-indigo-tf2-ros
  ros-indigo-tf2-sensor-msgs ros-indigo-tf2-web-republisher
  ros-indigo-timestamp-tools ros-indigo-topic-tools ros-indigo-trajectory-msgs
  ros-indigo-transmission-interface ros-indigo-turtlebot-bringup
  ros-indigo-turtlebot-capabilities ros-indigo-turtlebot-description
  ros-indigo-turtlebot-teleop ros-indigo-ueye-cam ros-indigo-unique-id
  ros-indigo-urdf ros-indigo-urdf-parser-plugin ros-indigo-urdfdom-py
  ros-indigo-urg-c ros-indigo-urg-node ros-indigo-uuid-msgs
  ros-indigo-uvc-camera ros-indigo-velocity-controllers
  ros-indigo-visualization-msgs ros-indigo-voxel-grid ros-indigo-warehouse-ros
  ros-indigo-wge100-camera ros-indigo-wifi-ddwrt ros-indigo-xacro
  ros-indigo-xmlrpcpp ros-indigo-yocs-cmd-vel-mux ros-indigo-yocs-controllers
  ros-indigo-yocs-velocity-smoother ros-indigo-zbar-ros
  ros-indigo-zeroconf-avahi ros-indigo-zeroconf-msgs shotwell shotwell-common
  software-properties-common software-properties-gtk tzdata tzdata-java unity
  unity-services unity-settings-daemon uno-libs3 unzip ure wpasupplicant
505 upgraded, 0 newly installed, 0 to remove and 7 not upgraded.
Need to get 85.8 MB/354 MB of archives.
After this operation, 21.3 MB of additional disk space will be used.
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YoheiKakiuchi commented 8 years ago

僕の手元は問題ないです。 aptitude show choreonoid で見えるバージョンは以下です。

バージョン: 1.5.0+dfsg+20151117+474+16~ubuntu14.04.1

ログからはPDcontrollerに関するメッセージが見えないので、コントローラが作られていないのだと思いますが、これは、choreonoid側で作るので、 choreonoidのメッセージを見ると分かることがあるかもしれません。

YuOhara commented 8 years ago

choreonoid側の出力:

Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidCorbaPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidPythonPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so"
Loading the plugin failed.
Cannot load library /usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so: (libRTC-1.1.1.so: cannot open shared object file: No such file or directory)
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidJVRCPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidPythonSimScriptPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidGRobotPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidBodyPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidSimpleControllerPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidPoseSeqPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidBalancerPlugin.so"
Detecting plugin file "/usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so"
Loading the plugin failed.
Cannot load library /usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so: (libRTC-1.1.1.so: cannot open shared object file: No such file or directory)
Body-plugin has been activated.
Corba-plugin has been activated.
GRobot-plugin has been activated.
JVRC-plugin has been activated.
PoseSeq-plugin has been activated.
Python-plugin has been activated.
PythonSimScript-plugin has been activated.
SimpleController-plugin has been activated.
Balancer-plugin has been activated.

Loading project file "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_VALVE.cnoid" ...
Task sequencer '' has been deactivated.
Restoring WorldItem "World"
Restoring BodyItem "JAXON_JVRC"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl"
 -> ok!
Warning: OpenRTMPlugin is not loaded.
Warning: BodyRTCItem of OpenRTMPlugin is not a registered item type.
Warning: "BodyRTC" cannot be restored.
Restoring BodyItem "wall"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/model/tasks/O1/wall.wrl"
 -> ok!
Restoring BodyItem "surface"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/model/tasks/O1/surface.wrl"
 -> ok!
Restoring BodyItem "valve"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/model/tasks/VALVE/valve.wrl"
 -> ok!
Restoring BodyItem "drcbox"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/model/tasks/VALVE/drcbox.wrl"
 -> ok!
Restoring BodyItem "valve2"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/model/tasks/VALVE/valve.wrl"
 -> ok!
Restoring BodyItem "drcbox2"
Loading OpenHRP Model File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/model/tasks/VALVE/drcbox.wrl"
 -> ok!
Restoring AISTSimulatorItem "AISTSimulator"
Restoring JVRCManagerItem "JVRCManager"
Loading JVRC Info "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/model/tasks/O1/O1.yaml"
 -> ok!
JVRC Robot "JAXON_JVRC" has been detected.
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
Restoring GLVisionSimulatorItem "GLVisionSimulator"
17 / 18 item(s) are loaded.
Warning: 1 item(s) are not correctly loaded.
Project "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_VALVE.cnoid" has been loaded.
SubSimulatorItem "JVRCManager" has been detected.
Warning: "jvrc-team-name.txt" is not found. Outputting record files is not available.
Remaining time is output to "jvrc-remaining-time.txt".
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "HEAD_LEFT_CAMERA" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "CHEST_CAMERA" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "HEAD_RANGE" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "LARM_CAMERA" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "RARM_CAMERA" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "LARM_CAMERA_N" of JAXON_JVRC as a target.
SubSimulatorItem "GLVisionSimulator" has been detected.
GLVisionSimulator detected vision sensor "RARM_CAMERA_N" of JAXON_JVRC as a target.
Simulation by AISTSimulator has started.

YuOhara commented 8 years ago

leus@leus-HP-Z620-Workstation:/usr/lib/choreonoid-1.5$ locate libRTC-
/home/leus/ros/indigo_parent/devel/lib/libRTC-1.1.0.so
/home/leus/ros/indigo_parent/src/openrtm_aist/src/lib/rtm/.libs/libRTC-1.1.0.so
/home/leus/ros/indigo_parent/src/openrtm_aist/src/lib/rtm/.libs/libRTC-1.1.0.soT
/usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so

k-okada commented 8 years ago

小原君につかっているchoreonoid

Versionは垣内君と同じ?

◉ Kei Okada

2015/11/20 10:43、Yu Ohara notifications@github.com のメッセージ:

leus@leus-HP-Z620-Workstation:/usr/lib/choreonoid-1.5$ locate libRTC- /home/leus/ros/indigo_parent/devel/lib/libRTC-1.1.0.so /home/leus/ros/indigo_parent/src/openrtm_aist/src/lib/rtm/.libs/libRTC-1.1.0.so /home/leus/ros/indigo_parent/src/openrtm_aist/src/lib/rtm/.libs/libRTC-1.1.0.soT /usr/lib/x86_64-linux-gnu/libRTC-1.1.2.so — Reply to this email directly or view it on GitHub.

YuOhara commented 8 years ago

同じでした。

Version: 1.5.0+dfsg+20151117+474+16~ubuntu14.04.1

YoheiKakiuchi commented 8 years ago

まちがえました。僕は自分のビルドを使ってました。 aptだとopenrtmのバージョンがずれているんじゃないかと思います。

openrtm-aist

バージョン: 1.1.1+20151119+1709+6~ubuntu14.04.1

YoheiKakiuchi commented 8 years ago

なので、aptで入れると現状動かないが正しいように思います。

YuOhara commented 8 years ago

最悪sudo cp でlibをcpなりlnなりすれば動くことがわかりました。

k-okada commented 8 years ago

openrtmのバージョンの動いているものと動いていないものの比較は？また，openrtmのちがいによってロボットがへたるという時に考えられる原因は？

◉ Kei Okada

2015-11-20 11:05 GMT+09:00 Yohei Kakiuchi notifications@github.com:

まちがえました。僕は自分のビルドを使ってました。 aptだとopenrtmのバージョンがずれているんじゃないかと思います。

openrtm-aist

バージョン: 1.1.1+20151119+1709+6~ubuntu14.04.1

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/134#issuecomment-158258345 .

k-okada commented 8 years ago

そういうことはやめましょう．ちゃんと使っていくなら，ちゃんとしておくべきで，それが面倒なら使わないべきです．

◉ Kei Okada

On Fri, Nov 20, 2015 at 11:10 AM, Yu Ohara notifications@github.com wrote:

最悪sudo cp でlibをcpなりlnなりすれば動くことがわかりました。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/134#issuecomment-158258993 .

YuOhara commented 8 years ago

openrtmのちがいによってロボットがへたるという時

これは

Cannot load library /usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so: (libRTC-1.1.1.so: cannot open shared object file: No such file or director

というエラーの通り、違うというよりは、ファイルがそもそもないからです。

もちろんchoreonoid(でいいのかあまり自信ないですが)のgithubページにあとで報告しますが、テンポラリで使いたくて、 apt-cache show-pkgで

Reverse Provides: 
choreonoid:i386 1.5.0+dfsg+20151117+474+16~ubuntu14.04.

としか出ないので、apt-get upgradeを戻す方法がわからず、すぐに使うためにはcpしかないと思いました。

k-okada commented 8 years ago

なるほど．前はlibrtc-1.1.1.so はあったのになくなった？それとも名前が変わった？松阪さんはopenrtmのdebはnightliy buildだから，と行っていたので，両方そこから入っているとチョット変ですね． openrtmはros側のものをつかっていると，おこるかもしれない．いずれにせよ，松阪さんに報告して見て下さい，nightly buildだったら明日には治るので．

◉ Kei Okada

2015-11-20 11:28 GMT+09:00 Yu Ohara notifications@github.com:

openrtmのちがいによってロボットがへたるという時これは

Cannot load library /usr/lib/choreonoid-1.5/libCnoidOpenRTMPlugin.so: (libRTC-1.1.1.so: cannot open shared object file: No such file or director

というエラーの通り、違うというよりは、ファイルがそもそもないからです。

もちろんchoreonoid(でいいのかあまり自信ないですが)のgithubページにあとで報告しますが、テンポラリで使いたくて、 apt-cache show-pkgで

Reverse Provides: choreonoid:i386 1.5.0+dfsg+20151117+474+16~ubuntu14.04.

としか出ないので、apt-get upgradeを戻す方法がわからず、すぐに使うためにはcpしかないと思いました。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/134#issuecomment-158261200 .

YoheiKakiuchi commented 8 years ago

どうやら、openrtmのソースでtrunkのバージョンが1.1.1 から 1.1.2へ最近変更されたようです。 choreonoidのdebがリリースされると治りそうです。

k-okada commented 8 years ago

choreonoidのdebもnightly updateでなかったっけ？であればもう一回apt-get upgradeすれば治りそうです．

◉ Kei Okada

On Fri, Nov 20, 2015 at 2:15 PM, Yohei Kakiuchi notifications@github.com wrote:

どうやら、openrtmのソースでtrunkのバージョンが1.1.1 から 1.1.2へ最近変更されたようです。 choreonoidのdebがリリースされると治りそうです。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/134#issuecomment-158281648 .

YuOhara commented 8 years ago

https://launchpad.net/~hrg/+archive/ubuntu/daily/+packages

17日が最後の更新のように見えます（今日20日）。

k-okada commented 8 years ago

choreonidのgithub issueでupdateしてと聞いてみましょう．

◉ Kei Okada

On Fri, Nov 20, 2015 at 3:45 PM, Yu Ohara notifications@github.com wrote:

https://launchpad.net/~hrg/+archive/ubuntu/daily/+packages

17日が最後の更新のように見えます（今日20日）。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/134#issuecomment-158296504 .

YuOhara commented 8 years ago

最新のdebをリリースしてもらうためには、どこにcontactすべきなのでしょうか？ https://github.com/jsk-ros-pkg/jsk_recognition/issues/1331 これと同じでしょうか

YuOhara commented 8 years ago

あ、ありがとうございます。

start-jsk / rtmros_choreonoid

apt-get upgradeしたらjaxonがヘタるようになった。 #134