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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launchでNo transform from [RANGE_LINK] to [ground]というエラーが出る。 #284

Closed sshige closed 6 years ago

sshige commented 6 years ago

choreonoidでjaxon_red_choreonoid.launchを立ち上げ、例えばrviz上でRobotModelやTFを見ると RANGE_LINKの項で No transform from [RANGE_LINK] to [ground] と出てエラーになります。 このためにchoreonoid上LaserScan (/multisense/lidar_scan)といったトピックが表示出来ない(tfがないので変換出来ていない。rostopic echo /multisense/lidar_scanで値は出ている)状態になってしまいます。

自分のdesktop、ノートpcどちらでも同様のエラーが発生しているのですが、これはそもそも発生している問題なのでしょうか？

以下にrtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launchの出力を送ります。

rtconnect,rtactivateあたりのwarningが問題なのでしょうか？解決策に心当たりがある方がおりましたら教えて下さい。

[rtmlaunch] Start omniNames at port 15005

Fri Jun 15 18:40:31 2018:

Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003139322e3136382e39362e3239009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000008f89235b01004d9a Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/riku/.ros/log/2534e96e-7080-11e8-ace9-001f29030e5b/roslaunch-leus-HP-Z800-Workstation-19861.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-HP-Z800-Workstation:44844/

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 [19876] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2534e96e-7080-11e8-ace9-001f29030e5b process[rosout-1]: started with pid [19889] started core service [/rosout] process[modelloader-2]: started with pid [19913] ready process[choreonoid-3]: started with pid [19918] process[hrpsys_py-4]: started with pid [19922] 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/riku/catkin_ws/jaxon_tutorial/devel/share/hrpsys/lib manager.modules.preload: manager.components.precreate: example.SequencePlayer.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ForwardKinematics.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ImpedanceController.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.AutoBalancer.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.StateHolder.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.TorqueFilter.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.TorqueController.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ThermoEstimator.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ThermoLimiter.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.VirtualForceSensor.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.AbsoluteForceSensor.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RemoveForceSensorLinkOffset.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.KalmanFilter.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.Stabilizer.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.CollisionDetector.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.SoftErrorLimiter.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.HGcontroller.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.PDcontroller.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.EmergencyStopper.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ReferenceForceUpdater.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.ObjectContactTurnaroundDetector.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RobotHardware.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf example.RobotHardware_choreonoid.config_file:/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.conf process[HrpsysSeqStateROSBridge-5]: started with pid [19930] process[HrpsysJointTrajectoryBridge-6]: started with pid [19932] process[hrpsys_state_publisher-7]: started with pid [19943] process[hrpsys_ros_diagnostics-8]: started with pid [19997] process[diagnostic_aggregator-9]: started with pid [20002] choreonoid will be executed by the command below $ (cd /tmp; choreonoid /home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/config/JAXON_RED_FLAT.cnoid --start-simulation) process[hrpsys_profile-10]: started with pid [20037] loading file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl process[sensor_ros_bridge_connect-11]: started with pid [20057] configuration ORB with localhost:15005 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [20077] process[SequencePlayerServiceROSBridge-13]: started with pid [20090] process[DataLoggerServiceROSBridge-14]: started with pid [20103] process[ForwardKinematicsServiceROSBridge-15]: started with pid [20119] process[StateHolderServiceROSBridge-16]: started with pid [20132] [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 [20163] process[StabilizerServiceROSBridge-18]: started with pid [20178] process[KalmanFilterServiceROSBridge-19]: started with pid [20204] process[ImpedanceControllerServiceROSBridge-20]: started with pid [20241] process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [20277] process[EmergencyStopperServiceROSBridge-22]: started with pid [20294] process[HardEmergencyStopperServiceROSBridge-23]: started with pid [20340] process[ReferenceForceUpdaterServiceROSBridge-24]: started with pid [20372] [ WARN] [1529055634.383773873]: [HrpsysSeqStateROSBridge] use_hrpsys_time process[ObjectContactTurnaroundDetectorServiceROSBridge-25]: started with pid [20415] process[footcoords-26]: started with pid [20428] process[stabilizer_watcher-27]: started with pid [20459] process[tf2_buffer_server-28]: started with pid [20508] process[rtmlaunch_vision_connect-29]: started with pid [20575] process[multisense_local/left/HEADLEFT-30]: started with pid [20586] process[multisense_left_image_rect_relay-31]: started with pid [20594] process[multisense_local/right/HEADRIGHT-32]: started with pid [20611] process[multisense_right_image_rect_relay-33]: started with pid [20643] process[multisense/range_bridge-34]: started with pid [20684] process[multisense_local/pointcloud_bridge-35]: started with pid [20707] process[multisense_organized_image_points2_relay-36]: started with pid [20716] process[multisense_image_points2_color_relay-37]: started with pid [20731] process[head_left_frame_id-38]: started with pid [20747] process[head_range_frame_id-39]: started with pid [20750] 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] [rtmlaunch] starting... /home/riku/catkin_ws/jaxon_tutorial/src/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 [rtmlaunch] SIMULATOR_NAME JAXON_RED(Robot)0 [ INFO] [1529055634.883614097]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 [rtmlaunch] check connection/activation loading file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 0 /30 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for JAXON_RED(Robot)0 : None ( timeout 0 < 10) 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 /home/riku/catkin_ws/jaxon_tutorial/src/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/riku/catkin_ws/jaxon_tutorial/src/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) [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z800-Workstation [sensor_ros_bridge_connect.py] wait for JAXON_RED(Robot)0 : None ( timeout 0 < 10) [rtmlaunch] starting... /home/riku/catkin_ws/jaxon_tutorial/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] check connection/activation [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 0 /30 create customizer : JAXON_JVRC PDcontroller0: onInitialize() 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 [hrpsys.py] wait for JAXON_RED(Robot)0 : ( timeout 1 < 10) [hrpsys.py] findComps -> JAXON_RED(Robot)0 : isActive? = False [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl loading file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 1 /30 [sensor_ros_bridge_connect.py] wait for JAXON_RED(Robot)0 : ( timeout 1 < 10) [sensor_ros_bridge_connect.py] findComps -> JAXON_RED(Robot)0 : isActive? = False [sensor_ros_bridge_connect.py] simulation_mode : True create customizer : JAXON_JVRC PDcontroller0: on Activated [PDcontroller0] Gain file [/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat] opened [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 1 /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 [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:q 2 /30 [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None The model was successfully loaded ! Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/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] [1529055637.259672513]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done [rtmlaunch] Wait for /localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA 2 /30 [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_CAMERA [rtmlaunch] to localhost:15005/HEADLEFT.rtc:timedImage [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_RIGHT_CAMERA [rtmlaunch] to localhost:15005/HEADRIGHT.rtc:timedImage [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_RANGE [rtmlaunch] to localhost:15005/RangeSensorROSBridge0.rtc:range [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:HEAD_LEFT_DEPTH [rtmlaunch] to localhost:15005/PointCloudROSBridge0.rtc:points [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Wait for /localhost:15005/JointStateROSBridge0.rtc:qRef 0 /30 The model was successfully loaded ! Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/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] [1529055638.154284991]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC [ INFO] [1529055638.154954448]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [rtmlaunch] Wait for /localhost:15005/JointStateROSBridge0.rtc:qRef 1 /30 [sensor_ros_bridge_connect.py] wait for 'sh' : None [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 2 /30 [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:q [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:dq [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsvel [rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/JAXON_RED(Robot)0.rtc:tau [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} The model was successfully loaded ! [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 0 /30 SequencePlayer::onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [hrpsys.py] create Comp -> SequencePlayer : (315.15.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") [sh] onInitialize() StateHolder: dt = 0.002 cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl [hrpsys.py] create Comp -> StateHolder : (315.15.0) [hrpsys.py] create CompSvc -> StateHolder Service : [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") [fk] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [hrpsys.py] create Comp -> ForwardKinematics : (315.15.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : [hrpsys.py] eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf") [tf] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. This IIRFilter constructure is obsolated method. [hrpsys.py] create Comp -> TorqueFilter : (315.15.0) ("can't find a service named", 'service0') [hrpsys.py] eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf") [kf] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [kf] Q_angle=0.001, Q_rate=0.003, R_angle=1000 [hrpsys.py] create Comp -> KalmanFilter : (315.15.0) [hrpsys.py] create CompSvc -> KalmanFilter Service : [hrpsys.py] eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs") [vs] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [hrpsys.py] create Comp -> VirtualForceSensor : (315.15.0) [hrpsys.py] create CompSvc -> VirtualForceSensor Service : [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [rmfo] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : (315.15.0) [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : [hrpsys.py] eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es") [es] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [hrpsys.py] create Comp -> EmergencyStopper : (315.15.0) [hrpsys.py] create CompSvc -> EmergencyStopper Service : [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [ic] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [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 [hrpsys.py] create Comp -> ImpedanceController : (315.15.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : [hrpsys.py] eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc") [abc] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [abc] End Effector [rleg] [abc] target = RLEG_JOINT5, base = WAIST [abc] offset_pos = [0, 0, -0.1][m] [abc] has_toe_joint = false [abc] End Effector [lleg] [abc] target = LLEG_JOINT5, base = WAIST [abc] offset_pos = [0, 0, -0.1][m] [abc] has_toe_joint = false [abc] End Effector [rarm] [abc] target = RARM_JOINT7, base = CHEST_JOINT2 [abc] offset_pos = [0, 0.055, -0.217][m] [abc] has_toe_joint = false [abc] End Effector [larm] [abc] target = LARM_JOINT7, base = CHEST_JOINT2 [abc] offset_pos = [0, -0.055, -0.217][m] [abc] has_toe_joint = false [abc] abc_leg_offset = [0, 0.1, 0][m] [abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m] GaitGenerator swing_foot_rot_interpolator rleg GaitGenerator swing_foot_rot_interpolator lleg GaitGenerator swing_foot_rot_interpolator rarm GaitGenerator swing_foot_rot_interpolator larm [abc] force sensor ports (4) [abc] name = ref_rfsensor [abc] name = ref_lfsensor [abc] name = ref_rhsensor [abc] name = ref_lhsensor [abc] name = rfsensor [abc] name = lfsensor [abc] name = rhsensor [abc] name = lhsensor [abc] limbCOPOffset ports (4) [abc] name = limbCOPOffset_rfsensor [abc] name = limbCOPOffset_lfsensor [abc] name = limbCOPOffset_rhsensor [abc] name = limbCOPOffset_lhsensor [hrpsys.py] create Comp -> AutoBalancer : (315.15.0) [hrpsys.py] create CompSvc -> AutoBalancer Service : [hrpsys.py] eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st") [st] onInitialize() [rtmlaunch] Wait for /localhost:15005/JointStateROSBridge0.rtc:qRef 2 /30 cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [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, sensor_name = rfsensor [st] offset_pos = [0, 0, -0.1][m] [st] End Effector [lleg] [st] target = LLEG_JOINT5, base = WAIST, sensor_name = lfsensor [st] offset_pos = [0, 0, -0.1][m] [st] End Effector [rarm] [st] target = RARM_JOINT7, base = CHEST_JOINT2, sensor_name = rhsensor [st] offset_pos = [0, 0.055, -0.217][m] [st] End Effector [larm] [st] target = LARM_JOINT7, base = CHEST_JOINT2, sensor_name = lhsensor [st] offset_pos = [0, -0.055, -0.217][m] [hrpsys.py] create Comp -> Stabilizer : (315.15.0) [hrpsys.py] create CompSvc -> Stabilizer Service : [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") ;; ;; Could not open /dev/console for writing. ;; open: 許可がありません [co] onInitialize() cache found for file:///home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl [sensor_ros_bridge_connect.py] wait for 'sh' : Warning: Joint ID is not given to joint motor_joint of model JAXON_JVRC. [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30 ^C[head_range_frame_id-39] killing on exit [multisense_image_points2_color_relay-37] killing on exit [head_left_frame_id-38] killing on exit [rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService , /localhost:15005/sh.rtc:StateHolderService ): CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [multisense_right_image_rect_relay-33] killing on exit [rtmlaunch] Could not Activate ( localhost:15005/HrpsysSeqStateROSBridge0.rtc ) : Invalid CORBA naming service: localhost:15005 [multisense_organized_image_points2_relay-36] killing on exit [multisense_local/pointcloud_bridge-35] killing on exit [multisense/range_bridge-34] killing on exit [multisense_local/right/HEADRIGHT-32] 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' [rtmlaunch_vision_connect-29] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [tf2_buffer_server-28] killing on exit [stabilizer_watcher-27] killing on exit [footcoords-26] killing on exit [ObjectContactTurnaroundDetectorServiceROSBridge-25] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [ReferenceForceUpdaterServiceROSBridge-24] killing on exit [HardEmergencyStopperServiceROSBridge-23] killing on exit [EmergencyStopperServiceROSBridge-22] killing on exit [RemoveForceSensorLinkOffsetServiceROSBridge-21] 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' Traceback (most recent call last): File "/home/riku/catkin_ws/jaxon_tutorial/src/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/riku/catkin_ws/jaxon_tutorial/src/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 64, in initSensorRosBridgeConnection while sh.isInactive(): ## wait for initalizing all components AttributeError: 'NoneType' object has no attribute 'isInactive' [ImpedanceControllerServiceROSBridge-20] killing on exit [KalmanFilterServiceROSBridge-19] killing on exit [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 'terminate called after throwing an instance of 'CORBA::COMM_FAILURE' 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 [SequencePlayerServiceROSBridge-13] 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' [rtmlaunch_hrpsys_ros_bridge-12] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [sensor_ros_bridge_connect-11] killing on exit [hrpsys_profile-10] killing on exit [diagnostic_aggregator-9] killing on exit [hrpsys_ros_diagnostics-8] killing on exit [hrpsys_state_publisher-7] killing on exit [HrpsysJointTrajectoryBridge-6] killing on exit [HrpsysSeqStateROSBridge-5] killing on exit [ INFO] [1529055641.578551529]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 [hrpsys_py-4] killing on exit [choreonoid-3] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [modelloader-2] killing on exit [Vclip] build finished, vcliip mesh of WAIST, 397 -> 397 [Vclip] build finished, vcliip mesh of CHEST_JOINT0, 23 -> 23 [Vclip] build finished, vcliip mesh of CHEST_JOINT1, 555 -> 555 [Vclip] build finished, vcliip mesh of CHEST_JOINT2, 275 -> 275 [Vclip] build finished, vcliip mesh of HEAD_JOINT0, 467 -> 467 [Vclip] build finished, vcliip mesh of HEAD_JOINT1, 424 -> 424 [Vclip] build finished, vcliip mesh of motor_joint, 216 -> 216 [Vclip] build finished, vcliip mesh of LARM_JOINT0, 751 -> 751 [Vclip] build finished, vcliip mesh of LARM_JOINT1, 270 -> 270 [Vclip] build finished, vcliip mesh of LARM_JOINT2, 352 -> 352 [Vclip] build finished, vcliip mesh of LARM_JOINT3, 762 -> 762 [Vclip] build finished, vcliip mesh of LARM_JOINT4, 908 -> 908 [Vclip] build finished, vcliip mesh of LARM_JOINT5, 598 -> 598 [Vclip] build finished, vcliip mesh of LARM_JOINT6, 580 -> 580 [Vclip] build finished, vcliip mesh of LARM_JOINT7, 398 -> 398 [Vclip] build finished, vcliip mesh of LARM_F_JOINT0, 38 -> 38 [Vclip] build finished, vcliip mesh of LARM_F_JOINT1, 38 -> 38 [Vclip] build finished, vcliip mesh of RARM_JOINT0, 751 -> 751 [Vclip] build finished, vcliip mesh of RARM_JOINT1, 270 -> 270 [Vclip] build finished, vcliip mesh of RARM_JOINT2, 352 -> 352 [Vclip] build finished, vcliip mesh of RARM_JOINT3, 762 -> 762 [Vclip] build finished, vcliip mesh of RARM_JOINT4, 908 -> 908 [Vclip] build finished, vcliip mesh of RARM_JOINT5, 598 -> 598 [Vclip] build finished, vcliip mesh of RARM_JOINT6, 580 -> 580 [Vclip] build finished, vcliip mesh of RARM_JOINT7, 398 -> 398 [Vclip] build finished, vcliip mesh of RARM_F_JOINT0, 38 -> 38 [Vclip] build finished, vcliip mesh of RARM_F_JOINT1, 38 -> 38 [Vclip] build finished, vcliip mesh of LLEG_JOINT0, 660 -> 660 [Vclip] build finished, vcliip mesh of LLEG_JOINT1, 16 -> 16 [Vclip] build finished, vcliip mesh of LLEG_JOINT2, 528 -> 528 [Vclip] build finished, vcliip mesh of LLEG_JOINT3, 471 -> 471 [Vclip] build finished, vcliip mesh of LLEG_JOINT4, 554 -> 554 [Vclip] build finished, vcliip mesh of LLEG_JOINT5, 290 -> 290 [Vclip] build finished, vcliip mesh of RLEG_JOINT0, 660 -> 660 [Vclip] build finished, vcliip mesh of RLEG_JOINT1, 16 -> 16 [Vclip] build finished, vcliip mesh of RLEG_JOINT2, 528 -> 528 [Vclip] build finished, vcliip mesh of RLEG_JOINT3, 471 -> 471 [Vclip] build finished, vcliip mesh of RLEG_JOINT4, 554 -> 554 [Vclip] build finished, vcliip mesh of RLEG_JOINT5, 290 -> 290 [co] prop[collision_pair] ->RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT7 RARM_JOINT2:LARM_JOINT7 RARM_JOINT3:LARM_JOINT7 RARM_JOINT4:LARM_JOINT7 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT7 LARM_JOINT7:WAIST RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT5:RARM_JOINT7 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT5:RARM_JOINT7 CHEST_JOINT1:RARM_JOINT7 HEAD_JOINT1:RARM_JOINT7 RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:RARM_JOINT7 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT7 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2 [co] check collisions between RLEG_JOINT2 and LLEG_JOINT2 [co] check collisions between RLEG_JOINT2 and LLEG_JOINT3 [co] check collisions between RLEG_JOINT2 and LLEG_JOINT5 [co] check collisions between RLEG_JOINT2 and RARM_JOINT3 [co] check collisions between RLEG_JOINT2 and RARM_JOINT4 [co] check collisions between RLEG_JOINT2 and RARM_JOINT5 [co] check collisions between RLEG_JOINT2 and RARM_JOINT6 [co] check collisions between RLEG_JOINT2 and LARM_JOINT3 [co] check collisions between RLEG_JOINT2 and LARM_JOINT4 [co] check collisions between RLEG_JOINT2 and LARM_JOINT5 [co] check collisions between RLEG_JOINT2 and LARM_JOINT6 [co] check collisions between RLEG_JOINT3 and LLEG_JOINT2 [co] check collisions between RLEG_JOINT3 and LLEG_JOINT3 [co] check collisions between RLEG_JOINT3 and LLEG_JOINT5 [co] check collisions between RLEG_JOINT3 and RARM_JOINT3 [co] check collisions between RLEG_JOINT3 and RARM_JOINT4 [co] check collisions between RLEG_JOINT3 and RARM_JOINT5 [co] check collisions between RLEG_JOINT3 and RARM_JOINT6 [co] check collisions between RLEG_JOINT3 and LARM_JOINT3 [co] check collisions between RLEG_JOINT3 and LARM_JOINT4 [co] check collisions between RLEG_JOINT3 and LARM_JOINT5 [co] check collisions between RLEG_JOINT3 and LARM_JOINT6 [co] check collisions between RLEG_JOINT5 and LLEG_JOINT2 [co] check collisions between RLEG_JOINT5 and LLEG_JOINT3 [co] check collisions between RLEG_JOINT5 and LLEG_JOINT5 [co] check collisions between RLEG_JOINT5 and RARM_JOINT3 [co] check collisions between RLEG_JOINT5 and RARM_JOINT4 [co] check collisions between RLEG_JOINT5 and RARM_JOINT5 [co] check collisions between RLEG_JOINT5 and RARM_JOINT6 [co] check collisions between RLEG_JOINT5 and LARM_JOINT3 [co] check collisions between RLEG_JOINT5 and LARM_JOINT4 [co] check collisions between RLEG_JOINT5 and LARM_JOINT5 [co] check collisions between RLEG_JOINT5 and LARM_JOINT6 [co] check collisions between LLEG_JOINT2 and RARM_JOINT3 [co] check collisions between LLEG_JOINT2 and RARM_JOINT4 [co] check collisions between LLEG_JOINT2 and RARM_JOINT5 [co] check collisions between LLEG_JOINT2 and RARM_JOINT6 [co] check collisions between LLEG_JOINT2 and LARM_JOINT3 [co] check collisions between LLEG_JOINT2 and LARM_JOINT4 [co] check collisions between LLEG_JOINT2 and LARM_JOINT5 [co] check collisions between LLEG_JOINT2 and LARM_JOINT6 [co] check collisions between LLEG_JOINT3 and RARM_JOINT3 [co] check collisions between LLEG_JOINT3 and RARM_JOINT4 [co] check collisions between LLEG_JOINT3 and RARM_JOINT5 [co] check collisions between LLEG_JOINT3 and RARM_JOINT6 [co] check collisions between LLEG_JOINT3 and LARM_JOINT3 [co] check collisions between LLEG_JOINT3 and LARM_JOINT4 [co] check collisions between LLEG_JOINT3 and LARM_JOINT5 [co] check collisions between LLEG_JOINT3 and LARM_JOINT6 [co] check collisions between LLEG_JOINT5 and RARM_JOINT3 [co] check collisions between LLEG_JOINT5 and RARM_JOINT4 [co] check collisions between LLEG_JOINT5 and RARM_JOINT5 [co] check collisions between LLEG_JOINT5 and RARM_JOINT6 [co] check collisions between LLEG_JOINT5 and LARM_JOINT3 [co] check collisions between LLEG_JOINT5 and LARM_JOINT4 [co] check collisions between LLEG_JOINT5 and LARM_JOINT5 [co] check collisions between LLEG_JOINT5 and LARM_JOINT6 [co] check collisions between CHEST_JOINT1 and RARM_JOINT2 [co] check collisions between CHEST_JOINT1 and RARM_JOINT3 [co] check collisions between CHEST_JOINT1 and RARM_JOINT4 [co] check collisions between CHEST_JOINT1 and RARM_JOINT5 [co] check collisions between CHEST_JOINT1 and RARM_JOINT6 [co] check collisions between CHEST_JOINT1 and LARM_JOINT2 [co] check collisions between CHEST_JOINT1 and LARM_JOINT3 [co] check collisions between CHEST_JOINT1 and LARM_JOINT4 [co] check collisions between CHEST_JOINT1 and LARM_JOINT5 [co] check collisions between CHEST_JOINT1 and LARM_JOINT6 [co] check collisions between HEAD_JOINT1 and RARM_JOINT3 [co] check collisions between HEAD_JOINT1 and RARM_JOINT4 [co] check collisions between HEAD_JOINT1 and RARM_JOINT5 [co] check collisions between HEAD_JOINT1 and RARM_JOINT6 [co] check collisions between HEAD_JOINT1 and LARM_JOINT3 [co] check collisions between HEAD_JOINT1 and LARM_JOINT4 [co] check collisions between HEAD_JOINT1 and LARM_JOINT5 [co] check collisions between HEAD_JOINT1 and LARM_JOINT6 [co] check collisions between RARM_JOINT0 and LARM_JOINT4 [co] check collisions between RARM_JOINT0 and LARM_JOINT5 [co] check collisions between RARM_JOINT0 and LARM_JOINT6 [co] check collisions between RARM_JOINT2 and LARM_JOINT4 [co] check collisions between RARM_JOINT2 and LARM_JOINT5 [co] check collisions between RARM_JOINT2 and LARM_JOINT6 [co] check collisions between RARM_JOINT2 and WAIST [co] check collisions between RARM_JOINT3 and LARM_JOINT3 [co] check collisions between RARM_JOINT3 and LARM_JOINT4 [co] check collisions between RARM_JOINT3 and LARM_JOINT5 [co] check collisions between RARM_JOINT3 and LARM_JOINT6 [co] check collisions between RARM_JOINT3 and WAIST [co] check collisions between RARM_JOINT4 and LARM_JOINT0 [co] check collisions between RARM_JOINT4 and LARM_JOINT2 [co] check collisions between RARM_JOINT4 and LARM_JOINT3 [co] check collisions between RARM_JOINT4 and LARM_JOINT4 [co] check collisions between RARM_JOINT4 and LARM_JOINT5 [co] check collisions between RARM_JOINT4 and LARM_JOINT6 [co] check collisions between RARM_JOINT4 and WAIST [co] check collisions between RARM_JOINT5 and LARM_JOINT0 [co] check collisions between RARM_JOINT5 and LARM_JOINT2 [co] check collisions between RARM_JOINT5 and LARM_JOINT3 [co] check collisions between RARM_JOINT5 and LARM_JOINT4 [co] check collisions between RARM_JOINT5 and LARM_JOINT5 [co] check collisions between RARM_JOINT5 and LARM_JOINT6 [co] check collisions between RARM_JOINT5 and WAIST [co] check collisions between RARM_JOINT6 and LARM_JOINT0 [co] check collisions between RARM_JOINT6 and LARM_JOINT2 [co] check collisions between RARM_JOINT6 and LARM_JOINT3 [co] check collisions between RARM_JOINT6 and LARM_JOINT4 [co] check collisions between RARM_JOINT6 and LARM_JOINT5 [co] check collisions between RARM_JOINT6 and LARM_JOINT6 [co] check collisions between RARM_JOINT6 and WAIST [co] check collisions between LARM_JOINT2 and WAIST [co] check collisions between LARM_JOINT3 and WAIST [co] check collisions between LARM_JOINT4 and WAIST [co] check collisions between LARM_JOINT5 and WAIST [co] check collisions between LARM_JOINT6 and WAIST [co] check collisions between RLEG_JOINT2 and LARM_JOINT7 [co] check collisions between RLEG_JOINT3 and LARM_JOINT7 [co] check collisions between RLEG_JOINT5 and LARM_JOINT7 [co] check collisions between LLEG_JOINT2 and LARM_JOINT7 [co] check collisions between LLEG_JOINT3 and LARM_JOINT7 [co] check collisions between LLEG_JOINT5 and LARM_JOINT7 [co] check collisions between CHEST_JOINT1 and LARM_JOINT7 [co] check collisions between HEAD_JOINT1 and LARM_JOINT7 [co] check collisions between RARM_JOINT0 and LARM_JOINT7 [co] check collisions between RARM_JOINT2 and LARM_JOINT7 [co] check collisions between RARM_JOINT3 and LARM_JOINT7 [co] check collisions between RARM_JOINT4 and LARM_JOINT7 [co] check collisions between RARM_JOINT5 and LARM_JOINT7 [co] check collisions between RARM_JOINT7 and LARM_JOINT7 [co] check collisions between LARM_JOINT7 and WAIST [co] check collisions between RLEG_JOINT2 and RARM_JOINT7 [co] check collisions between RLEG_JOINT3 and RARM_JOINT7 [co] check collisions between RLEG_JOINT5 and RARM_JOINT7 [co] check collisions between LLEG_JOINT2 and RARM_JOINT7 [co] check collisions between LLEG_JOINT3 and RARM_JOINT7 [co] check collisions between LLEG_JOINT5 and RARM_JOINT7 [co] check collisions between CHEST_JOINT1 and RARM_JOINT7 [co] check collisions between HEAD_JOINT1 and RARM_JOINT7 [co] check collisions between RARM_JOINT7 and LARM_JOINT0 [co] check collisions between RARM_JOINT7 and LARM_JOINT2 [co] check collisions between RARM_JOINT7 and LARM_JOINT3 [co] check collisions between RARM_JOINT7 and LARM_JOINT4 [co] check collisions between RARM_JOINT7 and LARM_JOINT5 [co] check collisions between RARM_JOINT7 and WAIST [co] check collisions between CHEST_JOINT2 and RARM_JOINT3 [co] check collisions between CHEST_JOINT2 and RARM_JOINT4 [co] check collisions between CHEST_JOINT2 and RARM_JOINT5 [co] check collisions between CHEST_JOINT2 and RARM_JOINT6 [co] check collisions between CHEST_JOINT2 and RARM_JOINT7 [co] check collisions between CHEST_JOINT2 and LARM_JOINT3 [co] check collisions between CHEST_JOINT2 and LARM_JOINT4 [co] check collisions between CHEST_JOINT2 and LARM_JOINT5 [co] check collisions between CHEST_JOINT2 and LARM_JOINT6 [co] check collisions between CHEST_JOINT2 and LARM_JOINT7 [co] check collisions between CHEST_JOINT2 and LARM_JOINT2 [co] check collisions between CHEST_JOINT2 and RARM_JOINT2 omniORB: Caught an unexpected Python exception during up-call. Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/OpenRTM_idl.py", line 47, in __init__ def __init__(self): KeyboardInterrupt [hrpsys.py] Fail to createComps CORBA.UNKNOWN(omniORB.UNKNOWN_PythonException, CORBA.COMPLETED_MAYBE) [hrpsys.py] eval : [self.rfu, self.rfu_svc, self.rfu_version] = self.createComp("ReferenceForceUpdater","rfu") [rfu] onInitialize() [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] eval : [self.octd, self.octd_svc, self.octd_version] = self.createComp("ObjectContactTurnaroundDetector","octd") [octd] onInitialize() [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes") [hes] onInitialize() [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") ;; ;; Could not open /dev/console for writing. ;; open: 許可がありません [el] onInitialize() [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") [log] onInitialize() [hrpsys.py] create Comp -> DataLogger : (315.15.0) [hrpsys.py] create CompSvc -> DataLogger Service : [hrpsys.py] connecting components [rtm.py] Connect sh.qOut - es.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.q - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect ic.q - abc.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.q - st.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect st.q - PDcontroller0.angleRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.gsensor - kf.acc (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.gyrometer - kf.rate (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - kf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.lhsensorRef - sh.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.rhsensorRef - sh.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.lfsensorRef - sh.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.rfsensorRef - sh.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect kf.rpy - st.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.zmpOut - abc.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - abc.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - abc.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.optionalDataOut - abc.optionalData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.zmpOut - st.zmpRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.baseRpyOut - st.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.basePosOut - st.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.accRef - kf.accRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.contactStates - st.contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.controlSwingSupportTime - st.controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - st.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.qRef - st.qRefSeq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.walkingStates - st.walkingStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.sbpCogOffset - st.sbpCogOffset (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.toeheelRatio - st.toeheelRatio (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect st.emergencySignal - es.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect st.emergencySignal - abc.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect st.diffCapturePoint - abc.diffCapturePoint (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect st.actContactStates - abc.actContactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.lhsensor - st.lhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.limbCOPOffset_lhsensor - st.limbCOPOffset_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.lhsensorOut - ic.ref_lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.lhsensorOut - abc.ref_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.lhsensorOut - es.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.rhsensor - st.rhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.limbCOPOffset_rhsensor - st.limbCOPOffset_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.rhsensorOut - ic.ref_rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.rhsensorOut - abc.ref_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.rhsensorOut - es.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.lfsensor - st.lfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.limbCOPOffset_lfsensor - st.limbCOPOffset_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.lfsensorOut - ic.ref_lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.lfsensorOut - abc.ref_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.lfsensorOut - es.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.rfsensor - st.rfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect abc.limbCOPOffset_rfsensor - st.limbCOPOffset_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.rfsensorOut - ic.ref_rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect es.rfsensorOut - abc.ref_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.rfsensorOut - es.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect kf.rpy - rmfo.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_lhsensor - st.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_rhsensor - st.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.lfsensor - rmfo.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_lfsensor - ic.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_lfsensor - st.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.rfsensor - rmfo.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_rfsensor - ic.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_rfsensor - st.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.tau - tf.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - tf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect JAXON_RED(Robot)0.q - vs.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect tf.tauOut - vs.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Failed to connect None to ['es.servoStateIn']([]) [hrpsys.py] activating components [hrpsys.py] Fail to find instance (['co', 'CollisionDetector']) for getRTCInstanceList [hrpsys.py] Fail to find instance (['rfu', 'ReferenceForceUpdater']) for getRTCInstanceList [hrpsys.py] Fail to find instance (['octd', 'ObjectContactTurnaroundDetector']) for getRTCInstanceList [hrpsys.py] Fail to find instance (['hes', 'EmergencyStopper']) for getRTCInstanceList [hrpsys.py] Fail to find instance (['el', 'SoftErrorLimiter']) for getRTCInstanceList SequencePlayer::onActivated(1000) [fk] onActivated(1000) [tf] onActivated(1000) [kf] onActivated(1000) [vs] onActivated(1000) [rmfo] onActivated(1000) [es] onActivated(1000) [ic] onActivated(1000) [abc] onActivated(1000) [st] onActivated(1000) [hrpsys.py] setup logger [log] Log max length is set to 15000 [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to JAXON_RED(Robot)0_q [rtm.py] Connect JAXON_RED(Robot)0.q - log.JAXON_RED(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = dq to JAXON_RED(Robot)0_dq [rtm.py] Connect JAXON_RED(Robot)0.dq - log.JAXON_RED(Robot)0_dq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tau to JAXON_RED(Robot)0_tau [rtm.py] Connect JAXON_RED(Robot)0.tau - log.JAXON_RED(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : record type = TimedAcceleration3D, name = gsensor to JAXON_RED(Robot)0_gsensor [rtm.py] Connect JAXON_RED(Robot)0.gsensor - log.JAXON_RED(Robot)0_gsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedAngularVelocity3D, name = gyrometer to JAXON_RED(Robot)0_gyrometer [rtm.py] Connect JAXON_RED(Robot)0.gyrometer - log.JAXON_RED(Robot)0_gyrometer (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedCameraImage, name = HEAD_LEFT_CAMERA to JAXON_RED(Robot)0_HEAD_LEFT_CAMERA DataLogger: unsupported data type(TimedCameraImage) [rtm.py] Failed to connect JAXON_RED(Robot)0.HEAD_LEFT_CAMERA to None([None]) [hrpsys.py] setupLogger : record type = TimedCameraImage, name = HEAD_RIGHT_CAMERA to JAXON_RED(Robot)0_HEAD_RIGHT_CAMERA DataLogger: unsupported data type(TimedCameraImage) [rtm.py] Failed to connect JAXON_RED(Robot)0.HEAD_RIGHT_CAMERA to None([None]) [hrpsys.py] setupLogger : record type = RangeData, name = HEAD_RANGE to JAXON_RED(Robot)0_HEAD_RANGE DataLogger: unsupported data type(RangeData) [rtm.py] Failed to connect JAXON_RED(Robot)0.HEAD_RANGE to None([None]) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensor to JAXON_RED(Robot)0_lhsensor [rtm.py] Connect JAXON_RED(Robot)0.lhsensor - log.JAXON_RED(Robot)0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensor to JAXON_RED(Robot)0_rhsensor [rtm.py] Connect JAXON_RED(Robot)0.rhsensor - log.JAXON_RED(Robot)0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensor to JAXON_RED(Robot)0_lfsensor [rtm.py] Connect JAXON_RED(Robot)0.lfsensor - log.JAXON_RED(Robot)0_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensor to JAXON_RED(Robot)0_rfsensor [rtm.py] Connect JAXON_RED(Robot)0.rfsensor - log.JAXON_RED(Robot)0_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = rpy to kf_rpy [rtm.py] Connect kf.rpy - log.kf_rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut [rtm.py] Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut [rtm.py] Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut [rtm.py] Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut [rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut [rtm.py] Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to ic_q [rtm.py] Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to abc_zmpOut [rtm.py] Connect abc.zmpOut - log.abc_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = baseTformOut to abc_baseTformOut [rtm.py] Connect abc.baseTformOut - log.abc_baseTformOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to abc_q [rtm.py] Connect abc.q - log.abc_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedBooleanSeq, name = contactStates to abc_contactStates [rtm.py] Connect abc.contactStates - log.abc_contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = controlSwingSupportTime to abc_controlSwingSupportTime [rtm.py] Connect abc.controlSwingSupportTime - log.abc_controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = cogOut to abc_cogOut [rtm.py] Connect abc.cogOut - log.abc_cogOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmp to st_zmp [rtm.py] Connect st.zmp - log.st_zmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefZmp to st_originRefZmp [rtm.py] Connect st.originRefZmp - log.st_originRefZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefCog to st_originRefCog [rtm.py] Connect st.originRefCog - log.st_originRefCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefCogVel to st_originRefCogVel [rtm.py] Connect st.originRefCogVel - log.st_originRefCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originNewZmp to st_originNewZmp [rtm.py] Connect st.originNewZmp - log.st_originNewZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActZmp to st_originActZmp [rtm.py] Connect st.originActZmp - log.st_originActZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActCog to st_originActCog [rtm.py] Connect st.originActCog - log.st_originActCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActCogVel to st_originActCogVel [rtm.py] Connect st.originActCogVel - log.st_originActCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = allRefWrench to st_allRefWrench [rtm.py] Connect st.allRefWrench - log.st_allRefWrench (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = allEEComp to st_allEEComp [rtm.py] Connect st.allEEComp - log.st_allEEComp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to st_q [rtm.py] Connect st.q - log.st_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = actBaseRpy to st_actBaseRpy [rtm.py] Connect st.actBaseRpy - log.st_actBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedPoint3D, name = currentBasePos to st_currentBasePos [rtm.py] Connect st.currentBasePos - log.st_currentBasePos (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = currentBaseRpy to st_currentBaseRpy [rtm.py] Connect st.currentBaseRpy - log.st_currentBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = debugData to st_debugData [rtm.py] Connect st.debugData - log.st_debugData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = WAIST to JAXON_RED(Robot)0_WAIST [rtm.py] Connect JAXON_RED(Robot)0.WAIST - log.JAXON_RED(Robot)0_WAIST (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut [rtm.py] Connect sh.lhsensorOut - log.sh_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut [rtm.py] Connect sh.rhsensorOut - log.sh_rhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensorOut to sh_lfsensorOut [rtm.py] Connect sh.lfsensorOut - log.sh_lfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensorOut to sh_rfsensorOut [rtm.py] Connect sh.rfsensorOut - log.sh_rfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor [rtm.py] Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor [rtm.py] Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lfsensor to rmfo_off_lfsensor [rtm.py] Connect rmfo.off_lfsensor - log.rmfo_off_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rfsensor to rmfo_off_rfsensor [rtm.py] Connect rmfo.off_rfsensor - log.rmfo_off_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [log] Log cleared [hrpsys.py] setupLogger : WAIST arleady exists in DataLogger [rtm.py] JAXON_RED(Robot)0.WAIST and log.JAXON_RED(Robot)0_WAIST are already connected [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensor to abc_rfsensor [rtm.py] Connect abc.rfsensor - log.abc_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensor to abc_lfsensor [rtm.py] Connect abc.lfsensor - log.abc_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [hrpsys.py] setup joint groups [addJointGroup] group name = rarm [addJointGroup] group name = larm [addJointGroup] group name = rleg [addJointGroup] group name = lleg [addJointGroup] group name = head [addJointGroup] group name = torso [addJointGroup] group name = rhand [addJointGroup] group name = lhand [addJointGroup] group name = range [hrpsys.py] initialized successfully [rmfo] loadForceMomentOffsetParams [rmfo] lfsensor [rmfo] force_offset = [0, 0, 0][N] [rmfo] moment_offset = [0, 0, 0][Nm] [rmfo] link_offset_centroid = [0, 0, 0][m] [rmfo] link_offset_mass = 0[kg] [rmfo] lhsensor [rmfo] force_offset = [2.76654e-05, 1.65493e-05, 2.08911e-05][N] [rmfo] moment_offset = [-3.26638e-07, 3.9904e-07, 1.07864e-07][Nm] [rmfo] link_offset_centroid = [-3.97945e-08, -7.90751e-09, 0.016][m] [rmfo] link_offset_mass = 2.257[kg] [rmfo] rfsensor [rmfo] force_offset = [0, 0, 0][N] [rmfo] moment_offset = [0, 0, 0][Nm] [rmfo] link_offset_centroid = [0, 0, 0][m] [rmfo] link_offset_mass = 0[kg] [rmfo] rhsensor [rmfo] force_offset = [2.93217e-05, 2.29238e-06, -4.61839e-06][N] [rmfo] moment_offset = [-1.02905e-07, 4.55826e-07, 3.31576e-08][Nm] [rmfo] link_offset_centroid = [-3.3943e-08, 2.30603e-08, 0.016][m] [rmfo] link_offset_mass = 2.257[kg] Exception AttributeError: "_objref_DataFlowComponent instance has no attribute '_Object__release'" in > ignored Traceback (most recent call last): File "/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py", line 64, in hcf.startABSTIMP() File "/home/riku/catkin_ws/jaxon_tutorial/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py", line 45, in startABSTIMP self.el_svc.setServoErrorLimit("motor_joint", sys.float_info.max) AttributeError: 'NoneType' object has no attribute 'setServoErrorLimit' [choreonoid-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
ishiguroJSK commented 6 years ago

昔どうだったかは知らないのですが，確かに僕の環境でもRANGE_LINKのTFは繋がっていないようです． とりあえずrosrun tf static_transform_publisher 0 0 0 0 0 0 /head_root /RANGE_LINK 100とかやると， つながって何かが見えますが， 恐らく/RANGE_LINKは無限回転してるHokuyoのTFに繋がるべきものな気がしていて， 現在Rviz側に回転しているTFが無いので，HokuyoのJoint周りの何かを整備しないといけない気がします． ChoreonoidでのHokuyoの扱いは少し特殊ですし．

YoheiKakiuchi commented 6 years ago

choreonoid上ではrangeが回っていて、multisense/lider_scanからデータは出ているという状況でしょうか？

rosのrange関係は以下でlaunchされます。 https://github.com/start-jsk/rtmros_choreonoid/blob/master/hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch#L96-L106

  1. jaxonの本体からheadqが出ていることを確認 rtls localhost:15005/'JAXON_RED(Robot)0.rtc:headq'

  2. JointStateROSBridge0.rtc と接続されていることを確認 rtcat -v localhost:15005/JointStateROSBridge0.rtc

  3. /joint_states (もしくは、multisense/joint_statesかも） で motor_joint が含まれているものが出ていることを確認

  4. robot_state_publisher に /joint_statesが渡っているか確認

ishiguroJSK commented 6 years ago

choreonoid上ではrangeが回っていて、multisense/lider_scanからデータは出ているという状況でしょうか？

そうですね．

hokuyo以外の/joint_stateと，hokuyoの/multisense_local/joint_statesは出ていますが，

$ rostopic echo /joint_states 
header: 
  seq: 100790
  stamp: 
    secs: 641
    nsecs: 927000000
  frame_id: ''
name: ['RLEG_JOINT0', 'RLEG_JOINT1', 'RLEG_JOINT2', 'RLEG_JOINT3', 'RLEG_JOINT4', 'RLEG_JOINT5', 'LLEG_JOINT0', 'LLEG_JOINT1', 'LLEG_JOINT2', 'LLEG_JOINT3', 'LLEG_JOINT4', 'LLEG_JOINT5', 'CHEST_JOINT0', 'CHEST_JOINT1', 'CHEST_JOINT2', 'HEAD_JOINT0', 'HEAD_JOINT1', 'RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5', 'RARM_JOINT6', 'RARM_JOINT7', 'LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5', 'LARM_JOINT6', 'LARM_JOINT7', 'LARM_F_JOINT0', 'LARM_F_JOINT1', 'RARM_F_JOINT0', 'RARM_F_JOINT1']
position: [0.00013606518280792677, 0.0004595302725378445, -0.23965881416120877, 0.6779311764428471, -0.4310003217495804, -0.00048017347060990903, -1.9679615365269516e-05, 0.0003044225797279202, -0.23963812364420772, 0.6776844469067491, -0.43189738217748525, 9.299052435370321e-05, -6.384228323914684e-06, -0.0008276135789665081, 1.967418868533579e-08, 1.2078328922693002e-07, 0.00020756317094223817, -8.627482053286123e-06, 0.6979800370825542, -0.3486553151886269, -0.08700599034817857, -1.3957354908607327, 1.5820065225021382e-05, 6.480226182616179e-05, -0.348943811163171, 8.633409013913311e-06, 0.6979800381976624, 0.34865529119754896, 0.08700597866559066, -1.3957354979892809, -1.582119980908442e-05, -6.480449955100325e-05, -0.3489438126009499, 0.00012131898498891149, 0.0002713981163537486, 0.00011941849203322088, 0.00026530537359883917]
velocity: [8.356536118334237e-06, 2.2357788587549793e-05, -2.2454518939027572e-05, 3.844034524654821e-05, -5.312919552945719e-05, -5.6625969652935684e-05, -7.009866671951767e-06, 1.555881204447235e-05, 1.4907123990841138e-05, -4.480879630719785e-05, 3.359440881147976e-05, -2.3125017965456305e-05, 1.6124292029258133e-05, -2.555496492015017e-06, 7.221143599634566e-06, 2.2925313274936666e-07, -7.748617504447665e-08, 1.360752437030126e-07, 3.8514674122993457e-07, -2.7514098956040756e-06, -2.0661539642664915e-06, -9.218113166536252e-07, -1.216255892928462e-07, -5.393401512728484e-07, -1.9473764466883494e-07, -1.8364578826948134e-07, -8.303983425399041e-07, -2.4465018242924835e-06, -1.8208296530837109e-06, 2.9993083749565735e-07, -1.0014121169822826e-07, -4.663870633956942e-07, 6.526658700609264e-08, -5.121680673295611e-08, -8.395447130586519e-08, 7.54706441817591e-09, 9.311100405625922e-09]
effort: [-1.3602692285514872, -2.798222296924626, -46.18185945491065, -97.73324656590188, -0.25080457784598664, -0.007157099044113283, 1.2000483681183491, 2.378446823491195, -44.53349787274907, -96.63676053140158, 0.12258815922322475, -0.10661798107854856, 0.5268750267246677, 68.6932388740404, -0.0034204502022236903, -0.001239833131387863, -2.075627118248862, 0.1726595013198746, 3.0389153136622937, -8.212726711482876, -5.1994597450352735, -10.48994531612113, -0.3163529869642137, -1.295855599298603, -2.4437190773629602, -0.1725448707378951, 3.0395767514357352, 8.215079454968466, 5.2011109760807805, -10.490166448478, 0.31646957533035697, 1.2962674275598678, -2.443778795627738, -0.026290574171765342, -0.052563051919998584, -0.026287917105328365, -0.052558250489610395]
---
$ rostopic echo /multisense_local/joint_states 
header: 
  seq: 39507
  stamp: 
    secs: 435
    nsecs: 785000000
  frame_id: ''
name: ['motor_joint']
position: [435.77474760002315]
velocity: [0.9999999991331757]
effort: []
---

robot_state_publisherには/joint_stateしか渡っていないように思います． そもそもrobor_state_publisherは別々のjoint_stateを入力するような使いかたできるものなのでしょうか？

$ rosnode info /hrpsys_state_publisher
--------------------------------------------------------------------------------
Node [/hrpsys_state_publisher]
Publications: 
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /joint_states [sensor_msgs/JointState]
 * /clock [rosgraph_msgs/Clock]

Services: 
 * /hrpsys_state_publisher/get_loggers
 * /hrpsys_state_publisher/set_logger_level

contacting node http://192.168.96.127:38127/ ...
Pid: 113363
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /rviz_1529212386927537577
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /tf2_buffer_server
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /footcoords
    * direction: outbound
    * transport: TCPROS
 * topic: /tf_static
    * to: /rviz_1529212386927537577
    * direction: outbound
    * transport: TCPROS
 * topic: /tf_static
    * to: /tf2_buffer_server
    * direction: outbound
    * transport: TCPROS
 * topic: /tf_static
    * to: /footcoords
    * direction: outbound
    * transport: TCPROS
 * topic: /clock
    * to: /HrpsysSeqStateROSBridge (http://192.168.96.127:33356/)
    * direction: inbound
    * transport: TCPROS
 * topic: /joint_states
    * to: /HrpsysSeqStateROSBridge (http://192.168.96.127:33356/)
    * direction: inbound
    * transport: TCPROS
YoheiKakiuchi commented 6 years ago

そこまで出てたら choreonoidの問題ではないね。 実機と上げているlaunchにdiffがあるんだろうか。

最終的にtfを出す robot_state_publisher にマージしたjoint_statesを渡しているようなことをしているはずです。

YoheiKakiuchi commented 6 years ago

これを一緒にあげてみて roslaunch hrpsys_choreonoid_tutorials jaxon_multisense_local.launch

ishiguroJSK commented 6 years ago

aptのjsk_robot, jsk_tilit_laser, jsk_toolsにlaunchディレクトリがなく， そのままではそれらに依存しているjaxon_multisense_local.launchが動きませんでしたが， それらをソースで持ってこれば，回転TFもlaser_scanも表示できました． ありがとうございます．

sshige commented 6 years ago

ishiguroJSKさんに見てもらい、解決しました。

自分の問題は、以前にmultisenseのlidarの回転を止めるようにjaxon_jvrcのモデルファイルを書き換えた時のファイルが残っていたことでした。choreonoidの方ではlidarが回っていたのでjaxon_jvrcのbuildしなおしで直っていると思っていたのですが、それでは十分ではなく、git clean -xfdなどでしっかり自動生成ファイルも消して、buildしなおさなくてはならないというところが問題だったようです。

ご対応いただき、ありがとうございます。

k-okada commented 6 years ago

aptのjsk_robot, jsk_tilit_laser, jsk_toolsにlaunchディレクトリがなく，

具体的にどのディレクトリがないか教えてください． プラス，可能であれば修正のPRを作ってください．

-- ◉ Kei Okada

2018-06-17 15:21 GMT+09:00 Yasuhiro Ishiguro notifications@github.com:

aptのjsk_robot, jsk_tilit_laser, jsk_toolsにlaunchディレクトリがなく， そのままではそれらに依存しているjaxon_multisense_local.launchが動きませんでしたが， それらをソースで持ってこれば，回転TFもlaser_scanも表示できました． ありがとうございます．

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_choreonoid/issues/284#issuecomment-397857684, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3FUIGRqHzX-RAGv1-j9Oy1lq8_G3ks5t9fWFgaJpZM4UpRr- .

ishiguroJSK commented 6 years ago 
 ~/catkin_ws/***/src/jsk_common/jsk_tilt_laser $ ls
CHANGELOG.rst  CMakeLists.txt  README.md  cfg  config  launch  package.xml  scripts  src
/opt/ros/indigo/share/jsk_tilt_laser $ ls
cmake  package.xml

このPRで正しいとすると，同様の修正をすべきパッケージが他にも多く見受けられるようなのですが， 本当にこれでいいのでしょうか・・・ https://github.com/jsk-ros-pkg/jsk_robot/pull/942 https://github.com/jsk-ros-pkg/jsk_common/pull/1583