Closed ishiguroJSK closed 8 years ago
YoheiKakiuchi
commented
8 years ago 今日にapt-get dist-upgradeしたでしょうか？ aptitude show choreonoid して、20160526だと落ちるようになっています。 詳細なレポートできていませんが、OpenRTMが最新のためだと思います。 /var/cache/apt/archivesに最新ではないdebが残っていたら、それを使うと問題ないかと思います。 ソースからコンパイルしても問題ないです。
ishiguroJSK
commented
8 years ago 今日しました・・・ 5/12あたりのchoreonoid関連の.debを4つほどdpkg -i して無事起動出来ました． ありがどうございます．
snozawa
commented
8 years ago このopenrtmのdebて、aist版でしょうか？ それともJSK版（tork-a release版）のdebでしょうか？
YoheiKakiuchi
commented
8 years ago aistのdebですね。choreonoidのdebはaistのopenrtmのdebに依存していて、jskのとバージョンが違うので入れざるを得ません。 今回の件は、たぶんですが問題があるのはヘッダなので、choreonoidのdebだけ入れ替えれば動いています。
ishiguroJSK
commented
8 years ago 今日不覚にもwstool updateしてしまい，気づいたら再び動かなくなってしまったのですが，
その後，
choreonoidのdebを以前のものに戻す，
choreonoidをソースからインストールする，
openrtmのdebを前に戻す(openrtm-aist-dev，openrtm-aistは05/25のものまでしかありませんでしたが)，
など試しましたが依然エラーが出てしまいます．
正確にはソース版のchoreonoidなら落ちずに起動しますが，途中でネームサーバが落ちる(？)ようです．
実際にRT-system editor などで確認してもchoreonoid起動中にネームサーバが落ちており，ロボットは崩れ落ちています．
hrpsysのアップデートによるものかと思ってgit checkoutで以前のものに戻してコンパイル後実行などしてみましたが効果なしでした．
どこが悪さしてるか心当たりありますでしょうか・・・？
$ wstool info
workspace: /home/ishiguro/catkin_ws/jaxon/src
Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]
--------- - --- -------------- ----------- ---------------------------
trans_system git master (-) 3029efa78972 github.com/jsk-ros-pkg/trans_system.git
rtm-ros-robotics/rtmros_tutorials git master (-) 9651a62ceb5f github.com/start-jsk/rtmros_tutorials.git
rtm-ros-robotics/rtmros_hrp2 git master (-) 0308a2697271 github.com/start-jsk/rtmros_hrp2.git
rtm-ros-robotics/rtmros_gazebo git master (-) c16011ae09b8 github.com/start-jsk/rtmros_gazebo.git
rtm-ros-robotics/rtmros_common MC git master (-) c193f9c9175e github.com/start-jsk/rtmros_common.git
rtm-ros-robotics/rtmros_choreonoid git master (-) 26a301002cdf github.com/start-jsk/rtmros_choreonoid.git
openhrp3 git master (-) 4234293e18ac github.com/fkanehiro/openhrp3.git
jsk-ros-pkg/jsk_openni_kinect git master (-) 2ee59a39b853 github.com/jsk-ros-pkg/jsk_openni_kinect.git
jsk-ros-pkg/jsk_control git master (-) cde35869ddb1 github.com/jsk-ros-pkg/jsk_control.git
hrpsys git <detached> (-) 36a39ac7d9cf github.com/fkanehiro/hrpsys-base.git
(略)
process[HrpsysJointTrajectoryBridge-6]: started with pid [30916]
[modelloader-2] process has finished cleanly
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/modelloader-2*.log
process[hrpsys_state_publisher-7]: started with pid [30917]
process[hrpsys_ros_diagnostics-8]: started with pid [30965]
process[diagnostic_aggregator-9]: started with pid [30983]
process[hrpsys_profile-10]: started with pid [31007]
process[sensor_ros_bridge_connect-11]: started with pid [31029]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [31037]
process[SequencePlayerServiceROSBridge-13]: started with pid [31066]
process[DataLoggerServiceROSBridge-14]: started with pid [31085]
process[ForwardKinematicsServiceROSBridge-15]: started with pid [31111]
configuration ORB with localhost:15005
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
process[StateHolderServiceROSBridge-16]: started with pid [31171]
process[AutoBalancerServiceROSBridge-17]: started with pid [31179]
process[StabilizerServiceROSBridge-18]: started with pid [31205]
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
process[KalmanFilterServiceROSBridge-19]: started with pid [31229]
[sensor_ros_bridge_connect.py] start
configuration ORB with localhost:15005
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
process[ImpedanceControllerServiceROSBridge-20]: started with pid [31250]
[hrpsys_py-4] process has died [pid 30911, exit code 1, cmd /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py JAXON_RED /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/hrpsys_py-4.log].
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/hrpsys_py-4*.log
[sensor_ros_bridge_connect-11] process has died [pid 31029, exit code 1, cmd /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl JAXON_RED HrpsysSeqStateROSBridge0 localhost new all 50.0 -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=sensor_ros_bridge_connect __log:=/home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/sensor_ros_bridge_connect-11.log].
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/sensor_ros_bridge_connect-11*.log
process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [31292]
process[EmergencyStopperServiceROSBridge-22]: started with pid [31318]
process[HardEmergencyStopperServiceROSBridge-23]: started with pid [31376]
process[footcoords-24]: started with pid [31397]
process[stabilizer_watcher-25]: started with pid [31408]
process[rtmlaunch_vision_connect-26]: started with pid [31422]
[hrpsys_profile-10] process has died [pid 31007, exit code 1, cmd /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_profile __log:=/home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/hrpsys_profile-10.log].
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/hrpsys_profile-10*.log
process[multisense_local/left/HEADLEFT-27]: started with pid [31438]
process[multisense_left_image_rect_relay-28]: started with pid [31439]
process[multisense_local/right/HEADRIGHT-29]: started with pid [31465]
process[multisense_right_image_rect_relay-30]: started with pid [31485]
process[multisense/range_bridge-31]: started with pid [31506]
process[multisense_local/pointcloud_bridge-32]: started with pid [31542]
[ INFO] [1464596106.386244829]: [RangeSensorROSBridge] @Initilize name : RangeSensorROSBridge0
process[multisense_organized_image_points2_relay-33]: started with pid [31558]
process[multisense_image_points2_color_relay-34]: started with pid [31574]
process[head_left_frame_id-35]: started with pid [31582]
process[head_range_frame_id-36]: started with pid [31602]
[rtmlaunch] starting... /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME JAXON_RED
[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( Invalid CORBA naming service: localhost:15005 )
[ INFO] [1464596106.464406844]: [PointCloudROSBridge] @Initilize name : PointCloudROSBridge0
[rtmlaunch] .. Could not connect to NameServer at localhost:15005 , Caught exception ( Invalid CORBA naming service: localhost:15005 )
[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/`
[rtmlaunch] .. You can check with `rtls localhost:15005/`
process[head_root_frame_id-37]: started with pid [31624]
process[multisense_local/jstate_bridge-38]: started with pid [31650]
[ WARN] [1464596106.505091487]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[rtmlaunch_hrpsys_ros_bridge-12] process has finished cleanly
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/rtmlaunch_hrpsys_ros_bridge-12*.log
[ INFO] [1464596106.572506236]: [JointStateROSBridge] @Initilize joint_name_list :
[ INFO] [1464596106.572614576]: 0 : motor_joint
[ INFO] [1464596106.572632737]: [JointStateROSBridge] @Initilize name : JointStateROSBridge0
[ INFO] [1464596106.594505613]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
/home/ishiguro/catkin_ws/jaxon/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:71: 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/ishiguro/catkin_ws/jaxon/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:72: 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)
[rtmlaunch] starting... /home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME Simulator
[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( Invalid CORBA naming service: localhost:15005 )
[rtmlaunch] .. Could not connect to NameServer at localhost:15005 , Caught exception ( Invalid CORBA naming service: localhost:15005 )
[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/`
[rtmlaunch] .. You can check with `rtls localhost:15005/`
[rtmlaunch_vision_connect-26] process has finished cleanly
log file: /home/ishiguro/.ros/log/9c046f94-263e-11e6-bdc7-001f2905a411/rtmlaunch_vision_connect-26*.log
[ INFO] [1464596106.787058956]: [ImageSensorROSBridge] @Initilize name : HEADLEFT
[ INFO] [1464596106.805318031]: [ImageSensorROSBridge] @Initilize name : HEADRIGHT
Loading body customizer "/home/ishiguro/catkin_ws/jaxon/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
create customizer : JAXON_JVRC
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
^C[multisense_local/jstate_bridge-38] killing on exit
debで入れなおしたらいいのは、libcnoid1, libcnoid-devだろうと思います。choreonoid本体と、openrtmのリンクはないので。
ソースからインストールする場合の注意点としては、enable_corba, build_corbaplugin, build_openrtmpluginをチェックすることと、ros/indigo_parent/devel をopenrtm directoryとして指定することです。
ishiguroJSK
commented
8 years ago libcnoid1, libcnoid-devを前回同様以前のものに戻す方法を試した場合にも今回はダメでした． 違う種類のエラーという可能性は無いのでしょうか？
YoheiKakiuchi
commented
8 years ago だとすると、なにが悪いのだろう？ 以下はどうなるでしょうか？
chireonoid単体で立ち上がるか $ choreonoid ..... みたいな行がログのどこかにあるので、そのコマンドを /tmp ディレクトリで実行してみる。 rtm-naming 15005をほかのターミナルで実行しておく必要がある。
hrpsysだけにするとどうなるか jaxon_red_choreonoid.launch で ros_bridge_choreonoid.launch をコメントアウトする。
ishiguroJSK
commented
8 years ago この理不尽な感じは・・・と思ってPC再起動したら治ってしまいました・・・
何とも煮え切らない感じですが，裏で何か残ってたんですかね・・・
現状choreonoidがソース版で各種debとワークスペースのブランチは全部最新の状態です．
ちなみにsudo make installしたchoreonoidをアンインストールしたい場合は/usr/local/include,share,lib,binのそれらしいものを消せばいいのでしょうか？
(一回試した時catkin buildが通らなくなってすぐ戻してしまったのですが)
ishiguroJSK
commented
8 years ago すいません自己解決しました．
/usr/local/include,share,lib,binのそれらしいものを消せばいい
で合ってました．再起動してから全部うまく行っています． お騒がせしました．
YoheiKakiuchi
commented
8 years ago 20160602にビルドされたdebだと落ちないようになっているかと思います。 https://github.com/s-nakaoka/choreonoid/issues/104
ちなみに、インストールディレクトリを/usr/local/choreonoid などにしておくとアンインストールが楽です。 （パスを通す必要はありますが。。。）
一週間ほどぶりに
rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launchを実行しようとしたら[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/JAXON_RED.rtc:q , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ): CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)のようなエラーでChoreonoidが一瞬起動してすぐ落ちてしまいます． 他の人の環境でも確認されているようです．rtmlaunch hrpsys_ros_bridge_tutorials jaxon_red.launchは問題なく動作しています． これはどこから疑うのがいいのでしょうか？以下端末のフルログ