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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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joint_statesが出ない #15

Closed YuOhara closed 9 years ago

YuOhara commented 9 years ago

何かプログラムが止まってるような気がするのですが関係あるでしょうか?

[abc] setAutoBalancerParam
[abc]   move_base_gain = 0.8
[abc]   default_zmp_offsets = 0 0 0 0 0 0
[abc]   graspless_manip_mode = 0
[abc]   graspless_manip_arm = arms
[abc]   graspless_manip_p_gain =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_pos =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_rot =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s]
[abc]   leg_names [rleg]
[abc]   leg_names [lleg]
[kf] setKalmanFilterParam
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[kf]   kf_algorithm=RPYKalmanFilter
[kf]   acc_offset =     [0,  0,  0]
[kf]   sensorRPY_offset =     [0,  -0,  0]
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 44, 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 21, in init
    self.setStAbcParameters()
  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 38, in setStAbcParameters
    self.setStAbcIcParametersJAXON(foot="KAWADA")
  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 176, in setStAbcIcParametersJAXON
    self.st_svc.setParameter(stp)
  File "/usr/lib/python2.7/dist-packages/StabilizerService_idl.py", line 175, in setParameter
    return _omnipy.invoke(self, "setParameter", _0_OpenHRP.StabilizerService._d_setParameter, args)
omniORB.CORBA.BAD_PARAM: CORBA.BAD_PARAM(omniORB.BAD_PARAM_WrongPythonType, CORBA.COMPLETED_NO)
[hrpsys_py-3] process has died [pid 24667, exit code 1, cmd /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py JAXON_JVRC /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService __name:=hrpsys_py __log:=/home/leus/.ros/log/16c92b48-47e2-11e5-b6de-fcaa1417ff45/hrpsys_py-3.log].
log file: /home/leus/.ros/log/16c92b48-47e2-11e5-b6de-fcaa1417ff45/hrpsys_py-3*.log
[rtmlaunch] [ERROR] Could not Connect ( /localhost:2809/JAXON_JVRC.rtc:q , /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ):  No such object: /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle
YoheiKakiuchi commented 9 years ago

とりあえず、一部だけでなくてコンソールを全部はってもらえますか。

あと、aptitude show hrpsys-base とするとなんと返って来ますか

YuOhara commented 9 years ago 
leus@leus-GB-BXi5G-760:~/ros/indigo/src/jsk-ros-pkg/jsk_recognition/jsk_perception$ roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch 
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 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 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"/>
    <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"/>
    <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"/>
    <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"/>
    <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="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <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"/>
    <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="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="HEAD_LEFT_CAMERA"/>
    <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="HEAD_LEFT_CAMERA"/>
    <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_RANGE"/>
    <remap from="range" to="lidir_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_RANGE"/>
    <remap from="range" to="lidir_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="HEAD_LEFT_CAMERA"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_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="HEAD_LEFT_CAMERA"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
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.
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.
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.
$ choreonoid /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_hg.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
exec_cxt.periodic.rate:1000000
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/leus/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
exec_cxt.periodic.type:SynchExtTriggerEC
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
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.
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.
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.
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.
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.
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.
/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)
[ERROR] [1440391048.950246287]: Skipping XML Document "/opt/ros/indigo/share/naoqi_driver_py/naoqi_analyzer_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.
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.
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.
/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: 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)
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.
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
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.
[rtmlaunch] starting...  /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME JAXON_JVRC
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   0 /30
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.
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   1 /30
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   2 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   3 /30
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.
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   4 /30
rtmlaunch.py: CORBA.BAD_PARAM(omniORB.BAD_PARAM_IndexOutOfRange, CORBA.COMPLETED_NO)
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 = 4, name = LARM_CAMERA)
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 = 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)
terminate called after throwing an instance of 'CORBA::BAD_INV_ORDER'
[HrpsysJointTrajectoryBridge-6] process has died [pid 6880, exit code -6, cmd /home/leus/ros/indigo/devel/lib/hrpsys_ros_bridge/HrpsysJointTrajectoryBridge -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl __name:=HrpsysJointTrajectoryBridge __log:=/home/leus/.ros/log/cdb92c0c-4a19-11e5-b0d9-fcaa1417ff45/HrpsysJointTrajectoryBridge-6.log].
log file: /home/leus/.ros/log/cdb92c0c-4a19-11e5-b0d9-fcaa1417ff45/HrpsysJointTrajectoryBridge-6*.log
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.
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.
Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   5 /30
[kf] onInitialize()
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[rmfo] onInitialize()
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 = 4, name = LARM_CAMERA)
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 = 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)
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[es] onInitialize()
[ic] force sensor ports
[ic]   name = rfsensor
[ic]   name = lfsensor
[ic]   name = rhsensor
[ic]   name = lhsensor
[ic] End Effector [rleg]RLEG_JOINT5 WAIST
[ic]   target = RLEG_JOINT5, base = WAIST
[ic]   localPos =     [0,  0,  -0.1][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [lleg]LLEG_JOINT5 WAIST
[ic]   target = LLEG_JOINT5, base = WAIST
[ic]   localPos =     [0,  0,  -0.1][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2
[ic]   target = RARM_JOINT7, base = CHEST_JOINT2
[ic]   localPos =     [0,  0.055,  -0.217][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] End Effector [larm]LARM_JOINT7 CHEST_JOINT2
[ic]   target = LARM_JOINT7, base = CHEST_JOINT2
[ic]   localPos =     [0,  -0.055,  -0.217][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] Add impedance params
[ic]   sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT5
[ic]   sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT5
[ic]   sensor = rhsensor, sensor-link = RARM_JOINT7, ee_name = rarm, ee-link = RARM_JOINT7
[ic]   sensor = lhsensor, sensor-link = LARM_JOINT7, ee_name = larm, ee-link = LARM_JOINT7
[abc] onInitialize()
[abc] abc_leg_offset =     [0,  0.1,  0][m]
[abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m]
[abc] End Effector [rleg]
[abc]   target = RLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [0,  0,  -0.1][m]
[abc] End Effector [lleg]
[abc]   target = LLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [0,  0,  -0.1][m]
[abc] End Effector [rarm]
[abc]   target = RARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [0,  0.055,  -0.217][m]
[abc] End Effector [larm]
[abc]   target = LARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [0,  -0.055,  -0.217][m]
[abc] force sensor ports (4)
[abc]   name = ref_rfsensor
[abc]   name = ref_lfsensor
[abc]   name = ref_rhsensor
[abc]   name = ref_lhsensor
[abc] limbCOPOffset ports (4)
[abc]   name = limbCOPOffset_rfsensor
[abc]   name = limbCOPOffset_lfsensor
[abc]   name = limbCOPOffset_rhsensor
[abc]   name = limbCOPOffset_lhsensor
[st] onInitialize()
[st] force sensor ports (4)
[st]   name = rfsensor
[st]   name = lfsensor
[st]   name = rhsensor
[st]   name = lhsensor
[st] limbCOPOffset ports (4)
[st]   name = limbCOPOffset_rfsensor
[st]   name = limbCOPOffset_lfsensor
[st]   name = limbCOPOffset_rhsensor
[st]   name = limbCOPOffset_lhsensor
[st] End Effector [rleg]
[st]   target = RLEG_JOINT5, base = WAIST
[st]   offset_pos =     [0,  0,  -0.1][m]
[st] End Effector [lleg]
[st]   target = LLEG_JOINT5, base = WAIST
[st]   offset_pos =     [0,  0,  -0.1][m]
[st] End Effector [rarm]
[st]   target = RARM_JOINT7, base = CHEST_JOINT2
[st]   offset_pos =     [0,  0.055,  -0.217][m]
[st] End Effector [larm]
[st]   target = LARM_JOINT7, base = CHEST_JOINT2
[st]   offset_pos =     [0,  -0.055,  -0.217][m]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[hes] onInitialize()
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[el] Load joint limit table [8]
[el] CHEST_JOINT0:CHEST_JOINT1(13)
[el]   target_llimit_angle -2[deg], target_ulimit_angle 35[deg]
[el]   llimit_table[deg] -9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9
[el]   ulimit_table[deg] 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9
[el] CHEST_JOINT1:CHEST_JOINT0(12)
[el]   target_llimit_angle -11[deg], target_ulimit_angle 11[deg]
[el]   llimit_table[deg] 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
[el]   ulimit_table[deg] 33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33
[el] HEAD_JOINT0:HEAD_JOINT1(16)
[el]   target_llimit_angle -33[deg], target_ulimit_angle 40[deg]
[el]   llimit_table[deg] -31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31
[el]   ulimit_table[deg] 30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,28,26,25,25,24,24,24,24,24,24,24,24,24,24
[el] HEAD_JOINT1:HEAD_JOINT0(15)
[el]   target_llimit_angle -33[deg], target_ulimit_angle 31[deg]
[el]   llimit_table[deg] 1,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32
[el]   ulimit_table[deg] -1,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,29,27,26,26,25,25
[el] RARM_JOINT6:RARM_JOINT7(24)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87
[el] RARM_JOINT7:RARM_JOINT6(23)
[el]   target_llimit_angle -90[deg], target_ulimit_angle 88[deg]
[el]   llimit_table[deg] -62,-62,-62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
[el] LARM_JOINT6:LARM_JOINT7(32)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89
[el] LARM_JOINT7:LARM_JOINT6(31)
[el]   target_llimit_angle -88[deg], target_ulimit_angle 90[deg]
[el]   llimit_table[deg] -62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
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.
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   6 /30
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.
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.
[kf] onActivated(0)
[abc] onActivated(0)
[st] onActivated(0)
[rmfo] onActivated(0)
SoftErrorLimiter is not working...
         m_qRef 0
     m_qCurrent 38
   m_servoState 38
[st] onDeactivated(0)
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   7 /30
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.
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.
[kf] onActivated(1000)
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   8 /30
[rmfo] onActivated(1000)
[abc] onActivated(1000)
[st] onActivated(1000)
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.
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   9 /30
[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
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.
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:2809/CHESTCAMERA.rtc:timedImage   0 /30
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   10 /30
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.
[rtmlaunch] Wait for  /localhost:2809/CHESTCAMERA.rtc:timedImage   1 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA
[rtmlaunch]             to localhost:2809/CHESTCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
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.
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   11 /30
[rtmlaunch] Wait for  /localhost:2809/LARMCAMERA.rtc:timedImage   0 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:LARM_CAMERA
[rtmlaunch]             to localhost:2809/LARMCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:RARM_CAMERA
[rtmlaunch]             to localhost:2809/RARMCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
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.
[rtmlaunch] Wait for  /localhost:2809/HEADLEFT.rtc:timedImage   0 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_LEFT_CAMERA
[rtmlaunch]             to localhost:2809/HEADLEFT.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_RANGE
[rtmlaunch]             to localhost:2809/RangeSensorROSBridge0.rtc:range
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Wait for  /localhost:2809/PointCloudROSBridge0.rtc:points   0 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   12 /30
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[addJointGroup] group name = rleg
[addJointGroup] group name = lleg
[addJointGroup] group name = head
[addJointGroup] group name = torso
[abc] setAutoBalancerParam
[abc]   move_base_gain = 0.8
[abc]   default_zmp_offsets = 0 0 0 0 0 0
[abc]   graspless_manip_mode = 0
[abc]   graspless_manip_arm = arms
[abc]   graspless_manip_p_gain =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_pos =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_rot =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s]
[abc]   leg_names [rleg]
[abc]   leg_names [lleg]
[kf] setKalmanFilterParam
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[kf]   kf_algorithm=RPYKalmanFilter
[kf]   acc_offset =     [0,  0,  0]
[kf]   sensorRPY_offset =     [0,  -0,  0]
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 44, 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 21, in init
    self.setStAbcParameters()
  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 38, in setStAbcParameters
    self.setStAbcIcParametersJAXON(foot="KAWADA")
  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 176, in setStAbcIcParametersJAXON
    self.st_svc.setParameter(stp)
  File "/usr/lib/python2.7/dist-packages/StabilizerService_idl.py", line 175, in setParameter
    return _omnipy.invoke(self, "setParameter", _0_OpenHRP.StabilizerService._d_setParameter, args)
omniORB.CORBA.BAD_PARAM: CORBA.BAD_PARAM(omniORB.BAD_PARAM_WrongPythonType, CORBA.COMPLETED_NO)
[hrpsys_py-4] process has died [pid 6824, exit code 1, cmd /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py JAXON_JVRC /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService __name:=hrpsys_py __log:=/home/leus/.ros/log/cdb92c0c-4a19-11e5-b0d9-fcaa1417ff45/hrpsys_py-4.log].
log file: /home/leus/.ros/log/cdb92c0c-4a19-11e5-b0d9-fcaa1417ff45/hrpsys_py-4*.log
[rtmlaunch] Wait for  /localhost:2809/PointCloudROSBridge0.rtc:points   1 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_LEFT_DEPTH
[rtmlaunch]             to localhost:2809/PointCloudROSBridge0.rtc:points
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /localhost:2809/CHESTCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/LARMCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/RARMCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/HEADLEFT.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/RangeSensorROSBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/PointCloudROSBridge0.rtc
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   13 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   14 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   15 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   16 /30
[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle   17 /30
^C[rtmlaunch] Catch signal 'SIGINT', exitting...
[rtmlaunch] Catch signal 'SIGINT', exitting...
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 44, in initSensorRosBridgeConnection
    time.sleep(1);
KeyboardInterrupt
[kf] onDeactivated(0)
[abc] onDeactivated(0)
[rmfo] onDeactivated(0)

ログはこれです

YuOhara commented 9 years ago 
leus@leus-GB-BXi5G-760:~$ aptitude show hrpsys-base 
Package: hrpsys-base                     
New: yes
State: installed
Automatically installed: no
Version: 3.1.5+20150820+1160+9~ubuntu14.04.1
Priority: extra
Section: science
Maintainer: Fumio KANEHIRO <f-kanehiro@aist.go.jp>
Architecture: amd64
Uncompressed Size: 74.9 M
Depends: freeglut3, libboost-python1.54.0, libboost-system1.54.0, libc6 (>=
         2.15), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglew1.10 (>=
         1.10.0), libglu1-mesa | libglu1, libomniorb4-1 (>= 4.1.6),
         libomnithread3c2 (>= 4.0.6), libopencv-core2.4, libopencv-highgui2.4,
         libopencv-imgproc2.4, libpython2.7 (>= 2.7), libqhull6, libsdl1.2debian
         (>= 1.2.11), libstdc++6 (>= 4.6), libxml2 (>= 2.7.4), openhrp,
         openrtm-aist, openrtm-aist-dev, ipython, jython, openrtm-aist-python,
         omniidl-python, python-tk
Conflicts: hrpsys-base
Description: Basic RT components and utilities to control robots using OpenRTM

Homepage: http://code.google.com/p/hrpsys-base
YoheiKakiuchi commented 9 years ago

ここで現在進行形ですが、 https://github.com/fkanehiro/hrpsys-base/issues/764

いまのところrosのhrpsysを使うのが正解です。 sudo apt-get update; sudo apt-get dist-upgradeして。 sudo apt-get remove hrpsys-base してみてください。 /usr/lib/python2.7/dist-packages/以下に hrpsysディレクトリやxxx_idl.pyファイルなどがないか確認して下さい。

YuOhara commented 9 years ago 
leus@leus-GB-BXi5G-760:/usr/lib/python2.7/dist-packages$ ls | grep idl.py
ClockGenerator_idl.py
CollisionDetector_idl.py
Controller_idl.py
CosNaming_idl.py
CosNaming_idl.pyc
DynamicsSimulator_idl.py
ModelLoader_idl.py
OnlineViewer_idl.py
OpenHRPCommon_idl.py
OpenHRPCommon_idl.pyc
PathPlanner_idl.py
ViewSimulator_idl.py
World_idl.py
leus@leus-GB-BXi5G-760:/usr/lib/python2.7/dist-packages$ ls | grep hrpsys
hrpsys

dis-upgradeまで手動で消すことになりますでしょうか？

leus@leus-GB-BXi5G-760:/usr/lib/python2.7/dist-packages$ aptitude show hrpsys-base 
Package: hrpsys-base                     
New: yes
State: not installed
Version: 3.1.5+20150824+1160+11~ubuntu14.04.1
Priority: extra
Section: science
Maintainer: Fumio KANEHIRO <f-kanehiro@aist.go.jp>
Architecture: amd64
Uncompressed Size: 74.9 M
Depends: freeglut3, libboost-python1.54.0, libboost-system1.54.0, libc6 (>=
         2.15), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglew1.10 (>=
         1.10.0), libglu1-mesa | libglu1, libomniorb4-1 (>= 4.1.6),
         libomnithread3c2 (>= 4.0.6), libopencv-core2.4, libopencv-highgui2.4,
         libopencv-imgproc2.4, libpython2.7 (>= 2.7), libqhull6, libsdl1.2debian
         (>= 1.2.11), libstdc++6 (>= 4.6), libxml2 (>= 2.7.4), openhrp,
         openrtm-aist, openrtm-aist-dev, ipython, jython, openrtm-aist-python,
         omniidl-python, python-tk
Conflicts: hrpsys-base
Description: Basic RT components and utilities to control robots using OpenRTM
YoheiKakiuchi commented 9 years ago

sudo apt-get remove openhpr3 もやってみてください。 その上で、のこっている /usr/lib/python2.7/dist-packages の下の、_idl.pyとhrpsys,OpenHRPディレクトリを手で消しましょう。

YuOhara commented 9 years ago

こちらTFが出るところまで確認できました。ありがとうございます。