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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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hrpsys_choreonoid_tutorialsnojaxon_red_choreonoid.launch 起動時にjaxonが崩れる #264

Closed shintarokkk closed 6 years ago

shintarokkk commented 6 years ago

Ubuntu 14.04のT440pでchoreonoidを起動しようとしたときのエラーです。

以前のissue（https://github.com/start-jsk/rtmros_choreonoid/issues/141、https://github.com/start-jsk/rtmros_choreonoid/issues/166）にも似たような状況があったようなのですが、解決方法が分からなかったのでお聞きしたいです。 choreonoidがビルドできなかったので一度ディレクトリを消してソースから入れ直したり関連パッケージを入れたりしてビルド自体は通ったのですが、起動時に以下のようなエラーメッセージが出てjaxonが崩れ落ちます。

ERROR: cannot launch node of type [hrpsys_choreonoid/JointStateROSBridge]: can't locate node [JointStateROSBridge] in package [hrpsys_choreonoid] ERROR: cannot launch node of type [hrpsys_choreonoid/TransformROSBridge]: can't locate node [TransformROSBridge] in package [hrpsys_choreonoid]

このあたりが特に原因になっているのではないかと疑ったのですが、hrpsys_choreonoidは最新にしてビルドも通っています。

どなたかこのエラーについて何か教えていただけないでしょうか。また、choreonoidはソースからインストールする以外の方法もあると聞いた気がするのですが、その方法がどこかに記されているでしょうか。

leus@leus-ThinkPad-T440p:~$ rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch [rtmlaunch] Start omniNames at port 15005

Wed Oct 25 15:02:41 2017:

Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f00000031302e3231332e3139362e31373300009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000000129f05901001431 Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/leus/.ros/log/1cf0955c-b94a-11e7-947a-e8b1fce1a569/roslaunch-leus-ThinkPad-T440p-5164.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://leus-ThinkPad-T440p:36190/

SUMMARY

PARAMETERS

NODES /multisense_local/left/ HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge) /multisense_local/right/ HEADRIGHT (hrpsys_ros_bridge/ImageSensorROSBridge) /multisense/ range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge) /multisense_local/ jstate_bridge (hrpsys_choreonoid/JointStateROSBridge) pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge) / 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) ObjectContactTurnaroundDetectorServiceROSBridge (hrpsys_ros_bridge/ObjectContactTurnaroundDetectorServiceROSBridgeComp) ReferenceForceUpdaterServiceROSBridge (hrpsys_ros_bridge/ReferenceForceUpdaterServiceROSBridgeComp) 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) ground_truth_bridge (hrpsys_choreonoid/TransformROSBridge) head_left_frame_id (tf/static_transform_publisher) head_range_frame_id (tf/static_transform_publisher) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_py (hrpsys_choreonoid_tutorials/jaxon_red_setup.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) multisense_image_points2_color_relay (topic_tools/relay) multisense_left_image_rect_relay (topic_tools/relay) multisense_organized_image_points2_relay (topic_tools/relay) multisense_right_image_rect_relay (topic_tools/relay) 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) tf2_buffer_server (tf2_ros/buffer_server)

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: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element: 

<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_RED(Robot)0.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
<rtactivate component="HEADLEFT.rtc"/>
<remap from="image_raw" to="image_rect_color"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element: 

<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_RED(Robot)0.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
<rtactivate component="HEADLEFT.rtc"/>
<remap from="image_raw" to="image_rect_color"/>

WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element: 

<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, -16.8,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_RIGHT_CAMERA" to="HEADRIGHT.rtc:timedImage"/>
<rtactivate component="HEADRIGHT.rtc"/>
<remap from="image_raw" to="image_rect_color"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element: 

<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, -16.8,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_RIGHT_CAMERA" to="HEADRIGHT.rtc:timedImage"/>
<rtactivate component="HEADRIGHT.rtc"/>
<remap from="image_raw" to="image_rect_color"/>

WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element: 

<param name="intensity" value="1000"/>
<remap from="range" to="lidar_scan"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
<rtactivate component="RangeSensorROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element: 

<param name="intensity" value="1000"/>
<remap from="range" to="lidar_scan"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
<rtactivate component="RangeSensorROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element: 

<param name="publish_depth" value="true"/>
<param name="transformed_camera_frame" value="true"/>
<remap from="points" to="organized_image_points2_color"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
<rtactivate component="PointCloudROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element: 

<param name="publish_depth" value="true"/>
<param name="transformed_camera_frame" value="true"/>
<remap from="points" to="organized_image_points2_color"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
<rtactivate component="PointCloudROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element:

["motor_joint"] 
<param name="rate" value="100.0"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:headq" to="JointStateROSBridge0.rtc:qRef"/>
<rtactivate component="JointStateROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element:

["motor_joint"] 
<param name="rate" value="100.0"/>
<rtconnect from="JAXON_RED(Robot)0.rtc:headq" to="JointStateROSBridge0.rtc:qRef"/>
<rtactivate component="JointStateROSBridge0.rtc"/>

WARNING: WARN: unrecognized 'rtconnect' child tag in the parent tag element: 

<param name="use_ros_name" value="true"/>

<remap from="odom" to="/ground_truth_odom"/>
<param name="rate" value="100.0"/>
<param name="publish_odom" value="true"/>
<param name="initial_relative" value="false"/>

<param name="publish_tf" value="true"/>
<param name="invert_tf" value="true"/>
<param name="tf_frame" value="BODY"/>
<param name="tf_parent_frame" value="choreonoid_origin"/>

<rtconnect from="JAXON_RED(Robot)0.rtc:WAIST" to="ground_truth_bridge.rtc:TformIn"/>
<rtactivate component="ground_truth_bridge.rtc"/>

WARNING: WARN: unrecognized 'rtactivate' child tag in the parent tag element: 

<param name="use_ros_name" value="true"/>

<remap from="odom" to="/ground_truth_odom"/>
<param name="rate" value="100.0"/>
<param name="publish_odom" value="true"/>
<param name="initial_relative" value="false"/>

<param name="publish_tf" value="true"/>
<param name="invert_tf" value="true"/>
<param name="tf_frame" value="BODY"/>
<param name="tf_parent_frame" value="choreonoid_origin"/>

<rtconnect from="JAXON_RED(Robot)0.rtc:WAIST" to="ground_truth_bridge.rtc:TformIn"/>
<rtactivate component="ground_truth_bridge.rtc"/>

auto-starting new master process[master]: started with pid [5180] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1cf0955c-b94a-11e7-947a-e8b1fce1a569 process[rosout-1]: started with pid [5193] started core service [/rosout] process[modelloader-2]: started with pid [5217] ready process[choreonoid-3]: started with pid [5222] process[hrpsys_py-4]: started with pid [5230] choreonoid will be executed by the command below $ (cd /tmp; choreonoid /home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/config/JAXON_RED_FLAT.cnoid --start-simulation) choreonoid will run with rtc.conf file of /tmp/rtc.conf.choreonoid contents of /tmp/rtc.conf.choreonoid are listed below

manager.is_master:YES corba.nameservers:localhost:15005 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: manager.components.precreate: example.SequencePlayer.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ForwardKinematics.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ImpedanceController.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.AutoBalancer.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.StateHolder.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.TorqueFilter.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.TorqueController.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ThermoEstimator.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ThermoLimiter.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.VirtualForceSensor.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.AbsoluteForceSensor.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RemoveForceSensorLinkOffset.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.KalmanFilter.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.Stabilizer.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.CollisionDetector.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.SoftErrorLimiter.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.HGcontroller.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.PDcontroller.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.EmergencyStopper.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ReferenceForceUpdater.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ObjectContactTurnaroundDetector.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RobotHardware.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RobotHardware_choreonoid.config_file:/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf process[HrpsysSeqStateROSBridge-5]: started with pid [5235] process[HrpsysJointTrajectoryBridge-6]: started with pid [5236] process[hrpsys_state_publisher-7]: started with pid [5259] process[hrpsys_ros_diagnostics-8]: started with pid [5318] loading file:///home/leus/ros/indigo/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl process[diagnostic_aggregator-9]: started with pid [5333] configuration ORB with localhost:15005 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[hrpsys_profile-10]: started with pid [5349] process[sensor_ros_bridge_connect-11]: started with pid [5358] process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [5367] process[SequencePlayerServiceROSBridge-13]: started with pid [5391] process[DataLoggerServiceROSBridge-14]: started with pid [5405] process[ForwardKinematicsServiceROSBridge-15]: started with pid [5436] process[StateHolderServiceROSBridge-16]: started with pid [5443] [sensor_ros_bridge_connect.py] start configuration ORB with localhost:15005 [sensor_ros_bridge_connect.py] initSensorRosBridgeConnection [sensor_ros_bridge_connect.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code process[AutoBalancerServiceROSBridge-17]: started with pid [5491] process[StabilizerServiceROSBridge-18]: started with pid [5539] process[KalmanFilterServiceROSBridge-19]: started with pid [5603] process[ImpedanceControllerServiceROSBridge-20]: started with pid [5675] process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [5685] process[EmergencyStopperServiceROSBridge-22]: started with pid [5725] [ WARN] [1508911364.517656236]: [HrpsysSeqStateROSBridge] use_hrpsys_time process[HardEmergencyStopperServiceROSBridge-23]: started with pid [5763] process[ReferenceForceUpdaterServiceROSBridge-24]: started with pid [5803] [ INFO] [1508911364.561918294]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 loading file:///home/leus/ros/indigo/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl process[ObjectContactTurnaroundDetectorServiceROSBridge-25]: started with pid [5842] process[footcoords-26]: started with pid [5879] process[stabilizer_watcher-27]: started with pid [5895] process[tf2_buffer_server-28]: started with pid [5898] process[rtmlaunch_vision_connect-29]: started with pid [5908] process[multisense_local/left/HEADLEFT-30]: started with pid [5914] process[multisense_left_image_rect_relay-31]: started with pid [5918] process[multisense_local/right/HEADRIGHT-32]: started with pid [5941] process[multisense_right_image_rect_relay-33]: started with pid [5952] process[multisense/range_bridge-34]: started with pid [5973] process[multisense_local/pointcloud_bridge-35]: started with pid [5987] process[multisense_organized_image_points2_relay-36]: started with pid [5991] process[multisense_image_points2_color_relay-37]: started with pid [6029] process[head_left_frame_id-38]: started with pid [6041] process[head_range_frame_id-39]: started with pid [6082] ERROR: cannot launch node of type [hrpsys_choreonoid/JointStateROSBridge]: can't locate node [JointStateROSBridge] in package [hrpsys_choreonoid] ERROR: cannot launch node of type [hrpsys_choreonoid/TransformROSBridge]: can't locate node [TransformROSBridge] in package [hrpsys_choreonoid] Manager not found [hrpsys.py] wait for RTCmanager : None [rtmlaunch] starting... /home/leus/ros/indigo/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(Robot)0 [rtmlaunch] check connection/activation [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 0 /30 /home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:81: 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:82: 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) Manager not found [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-ThinkPad-T440p 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 [rtmlaunch] starting... /home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 [rtmlaunch] SIMULATOR_NAME Simulator [rtmlaunch] check connection/activation [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 0 /30 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 [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 1 /30 Manager not found [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-ThinkPad-T440p [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 1 /30 Manager not found [hrpsys.py] wait for RTCmanager : None [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 2 /30 The model was successfully loaded ! Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for file:///home/leus/ros/indigo/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. 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] [1508911367.298178365]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done Manager not found [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-ThinkPad-T440p [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 2 /30 The model was successfully loaded ! Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for file:///home/leus/ros/indigo/src/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. 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) 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] [1508911367.767536319]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC [ INFO] [1508911367.767832950]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done Manager not found [hrpsys.py] wait for RTCmanager : None [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 3 /30 ^C[head_range_frame_id-39] killing on exit [head_left_frame_id-38] killing on exit [multisense_image_points2_color_relay-37] killing on exit [multisense_organized_image_points2_relay-36] killing on exit [multisense_local/pointcloud_bridge-35] killing on exit [multisense_local/right/HEADRIGHT-32] killing on exit [multisense/range_bridge-34] killing on exit [multisense_right_image_rect_relay-33] killing on exit [multisense_left_image_rect_relay-31] killing on exit [multisense_local/left/HEADLEFT-30] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' Manager not found [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-ThinkPad-T440p ^C[rtmlaunch_vision_connect-29] killing on exit [tf2_buffer_server-28] killing on exit [stabilizer_watcher-27] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [footcoords-26] killing on exit [ObjectContactTurnaroundDetectorServiceROSBridge-25] killing on exit [ReferenceForceUpdaterServiceROSBridge-24] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [HardEmergencyStopperServiceROSBridge-23] killing on exit [EmergencyStopperServiceROSBridge-22] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [RemoveForceSensorLinkOffsetServiceROSBridge-21] killing on exit [ImpedanceControllerServiceROSBridge-20] killing on exit [KalmanFilterServiceROSBridge-19] killing on exit terminate called after throwing an instance of 'terminate called after throwing an instance of 'CORBA::COMM_FAILURE' CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' ^C[StabilizerServiceROSBridge-18] killing on exit [AutoBalancerServiceROSBridge-17] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [StateHolderServiceROSBridge-16] killing on exit [ForwardKinematicsServiceROSBridge-15] killing on exit [DataLoggerServiceROSBridge-14] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [SequencePlayerServiceROSBridge-13] killing on exit ^Cterminate called after throwing an instance of 'CORBA::COMM_FAILURE' [rtmlaunch_hrpsys_ros_bridge-12] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [sensor_ros_bridge_connect-11] 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 78, in initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4], sys.argv[5], sys.argv[6], sys.argv[7]) File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 52, in initSensorRosBridgeConnection hcf.waitForRTCManagerAndRoboHardware(simulator_name, managerhost) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1006, in waitForRTCManagerAndRoboHardware return self.waitForRTCManagerAndRobotHardware(robotname=robotname, managerhost=managerhost) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1015, in waitForRTCManagerAndRobotHardware self.waitForRTCManager(managerhost) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 950, in waitForRTCManager time.sleep(1) KeyboardInterrupt [hrpsys_profile-10] killing on exit 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 rtc_init() File "/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 29, in rtc_init time.sleep(1); KeyboardInterrupt [diagnostic_aggregator-9] killing on exit ^C[hrpsys_ros_diagnostics-8] killing on exit [hrpsys_state_publisher-7] killing on exit [HrpsysJointTrajectoryBridge-6] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [HrpsysSeqStateROSBridge-5] killing on exit [hrpsys_py-4] killing on exit [ INFO] [1508911368.988734808]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 Traceback (most recent call last): File "/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py", line 63, in hcf.init(sys.argv[1], sys.argv[2], connect_constraint_force_logger_ports=connect_constraint_force_logger_ports) File "/home/leus/ros/indigo/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py", line 41, in init URATAHrpsysConfigurator.init(self, robotname, url) 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 HrpsysConfigurator.init(self, robotname, url) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2288, in init self.waitForRTCManagerAndRobotHardware(robotname) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1015, in waitForRTCManagerAndRobotHardware self.waitForRTCManager(managerhost) File "/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 950, in waitForRTCManager time.sleep(1) KeyboardInterrupt [choreonoid-3] killing on exit [modelloader-2] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' ^C^C^C^C^C^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done [rtmlaunch] terminate omniNames at port 15005
ishiguroJSK commented 6 years ago

ロボットが崩れ落ちるのはBodyRTCがうんぬんで，環境構築時などにたまに見る現象です @YoheiKakiuchi さんが詳しいですが， https://github.com/start-jsk/rtmros_choreonoid#compile-bodyrtc-etc の部分を実行したか or OpenRTMはaptかsourceか等を試行すると治るかもしれません．

shintarokkk commented 6 years ago

@ishiguroJSK さんにさらにオフラインで教えていただき解決しました。ありがとうございます。 hrpsys_choreonoidのビルドがうまくできていなかったのが原因だったようです。 https://github.com/start-jsk/rtmros_choreonoid/のREADME の $ export CNOID_INSTALL_DIR=/usr/local/choreonoid $ export PKG_CONFIG_PATH=${CNOID_INSTALL_DIR}/lib/pkgconfig:$PKG_CONFIG_PATH $ roscd hrpsys_choreonoid までやってから(上記のexport~は ~/.bashrcに書き込んだ)、一度 $ catkin clean hrpsys_choreonoid して $catkin bt でビルドし直すと正常にchoreonoidを立ち上げることができました。