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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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[hrpsys_choreonoid_tutorials][TABLIS] add ex-wrist-p link #368

Closed kirohy closed 1 year ago

kirohy commented 2 years ago

TABLISの腕の関節追加に伴って，関節角の初期値を追加しました．

Naoki-Hiraoka commented 2 years ago

訂正です。

モデルからは力センサを除いていなくて、

rtmlaunch  hrpsys_choreonoid_tutorials tablis_choreonoid.launch

や

rtmlaunch  hrpsys_choreonoid_tutorials tablis_base_choreonoid.launch

がエラーになる原因は、https://github.com/start-jsk/rtmros_tutorials/pull/604 で.confファイルのend_effectorsにelbowを追加していたため、Stabilizerがエラーになっていたためでした。 https://github.com/kirohy/rtmros_tutorials/blob/5dd1038e9bdb6431a02cae6ba248c462f518348a/hrpsys_ros_bridge_tutorials/CMakeLists.txt#L461

これを直すためには、

のどちらかを行う必要があります。

@kirohy と相談し、@kirohy の実験で.confファイルのend_effectorsにelbowがあると便利なことと、elbowがあるとエラーになるStabilizerなどのRTCは当面TABLISで使う予定がないことから、後者を行うことにしました。

@kirohy 後でhttps://github.com/kirohy/rtmros_choreonoid/pull/1 の変更を取り入れていただけますでしょうか。

kirohy commented 2 years ago

@k-okada @kindsenior これらの変更に問題なければmergeしていただけないでしょうか

k-okada commented 2 years ago

https://github.com/start-jsk/rtmros_choreonoid/runs/7461868201?check_suite_focus=true で以下のようなエラーがでていますが大丈夫でしょうか？

2022-07-22T04:32:13.9791233Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423112146]: Sensor gsensor is attached to BODY base_imu 0
2022-07-22T04:32:13.9791239Z 
2022-07-22T04:32:13.9791346Z                                                                                 
2022-07-22T04:32:13.9791778Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423190448]: Sensor gyrometer is attached to BODY base_imu 0
2022-07-22T04:32:13.9791784Z 
2022-07-22T04:32:13.9791895Z                                                                                 
2022-07-22T04:32:13.9792265Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423283149]: Sensor CHEST_CAMERA is attached to CHEST_LINK2 base_pinhole_camera 2
2022-07-22T04:32:13.9792272Z 
2022-07-22T04:32:13.9792276Z 
2022-07-22T04:32:13.9792385Z                                                                                 
2022-07-22T04:32:13.9792756Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423359251]: Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera 0
2022-07-22T04:32:13.9792762Z 
2022-07-22T04:32:13.9792858Z                                                                                 
2022-07-22T04:32:13.9793228Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423451952]: Sensor HEAD_RIGHT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera 1
2022-07-22T04:32:13.9793237Z 
2022-07-22T04:32:13.9793242Z 
2022-07-22T04:32:13.9793440Z                                                                                 
2022-07-22T04:32:13.9793802Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423640856]: Sensor lhsensor is attached to LARM_LINK7 base_force6d 3
2022-07-22T04:32:13.9793808Z 
2022-07-22T04:32:13.9793918Z                                                                                 
2022-07-22T04:32:13.9794278Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423686857]: Sensor LARM_CAMERA is attached to LARM_LINK7 base_pinhole_camera 5
2022-07-22T04:32:13.9794283Z 
2022-07-22T04:32:13.9794394Z                                                                                 
2022-07-22T04:32:13.9794753Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423745458]: Sensor LARM_CAMERA_N is attached to LARM_LINK7 base_pinhole_camera 6
2022-07-22T04:32:13.9794762Z 
2022-07-22T04:32:13.9794870Z                                                                                 
2022-07-22T04:32:13.9795215Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423883560]: Sensor lfsensor is attached to LLEG_LINK5 base_force6d 1
2022-07-22T04:32:13.9795221Z 
2022-07-22T04:32:13.9795331Z                                                                                 
2022-07-22T04:32:13.9795921Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.423940361]: Sensor HEAD_RANGE is attached to RANGE_LINK base_laser1d 0
2022-07-22T04:32:13.9795942Z 
2022-07-22T04:32:13.9795948Z 
2022-07-22T04:32:13.9796056Z                                                                                 
2022-07-22T04:32:13.9796443Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.424143965]: Sensor rhsensor is attached to RARM_LINK7 base_force6d 2
2022-07-22T04:32:13.9796450Z 
2022-07-22T04:32:13.9796455Z 
2022-07-22T04:32:13.9796581Z                                                                                 
2022-07-22T04:32:13.9796992Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.424740676]: Sensor RARM_CAMERA is attached to RARM_LINK7 base_pinhole_camera 3
2022-07-22T04:32:13.9796999Z 
2022-07-22T04:32:13.9797004Z 
2022-07-22T04:32:13.9797128Z                                                                                 
2022-07-22T04:32:13.9797541Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.425215385]: Sensor RARM_CAMERA_N is attached to RARM_LINK7 base_pinhole_camera 4
2022-07-22T04:32:13.9797547Z 
2022-07-22T04:32:13.9797553Z 
2022-07-22T04:32:13.9797676Z                                                                                 
2022-07-22T04:32:13.9798066Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.425694294]: Sensor rfsensor is attached to RLEG_LINK5 base_force6d 0
2022-07-22T04:32:13.9798072Z 
2022-07-22T04:32:13.9798078Z 
2022-07-22T04:32:13.9798303Z                                                                                 
2022-07-22T04:32:13.9798683Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.467257058]: Sensor gsensor is attached to BODY base_imu 0
2022-07-22T04:32:13.9798689Z 
2022-07-22T04:32:13.9798695Z 
2022-07-22T04:32:13.9798819Z                                                                                 
2022-07-22T04:32:13.9799190Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.467922270]: Sensor gyrometer is attached to BODY base_imu 0
2022-07-22T04:32:13.9799196Z 
2022-07-22T04:32:13.9799201Z 
2022-07-22T04:32:13.9799536Z                                                                                 
2022-07-22T04:32:13.9799921Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.468440980]: Sensor CHEST_CAMERA is attached to CHEST_LINK2 base_pinhole_camera 2
2022-07-22T04:32:13.9799927Z 
2022-07-22T04:32:13.9799932Z 
2022-07-22T04:32:13.9800051Z                                                                                 
2022-07-22T04:32:13.9800645Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.468859687]: Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera 0
2022-07-22T04:32:13.9800656Z 
2022-07-22T04:32:13.9800679Z 
2022-07-22T04:32:13.9800906Z                                                                                 
2022-07-22T04:32:13.9801532Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.469420198]: Sensor HEAD_RIGHT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera 1
2022-07-22T04:32:13.9801541Z 
2022-07-22T04:32:13.9801546Z 
2022-07-22T04:32:13.9801669Z                                                                                 
2022-07-22T04:32:13.9802057Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.469948907]: Sensor lhsensor is attached to LARM_LINK7 base_force6d 3
2022-07-22T04:32:13.9802063Z 
2022-07-22T04:32:13.9802069Z 
2022-07-22T04:32:13.9802192Z                                                                                 
2022-07-22T04:32:13.9802613Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.470333715]: Sensor LARM_CAMERA is attached to LARM_LINK7 base_pinhole_camera 5
2022-07-22T04:32:13.9802620Z 
2022-07-22T04:32:13.9802625Z 
2022-07-22T04:32:13.9802751Z                                                                                 
2022-07-22T04:32:13.9803162Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.470710621]: Sensor LARM_CAMERA_N is attached to LARM_LINK7 base_pinhole_camera 6
2022-07-22T04:32:13.9803168Z 
2022-07-22T04:32:13.9803173Z 
2022-07-22T04:32:13.9803297Z                                                                                 
2022-07-22T04:32:13.9803898Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.471176830]: Sensor lfsensor is attached to LLEG_LINK5 base_force6d 1
2022-07-22T04:32:13.9803905Z 
2022-07-22T04:32:13.9803909Z 
2022-07-22T04:32:13.9804027Z                                                                                 
2022-07-22T04:32:13.9804506Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.471565237]: Sensor HEAD_RANGE is attached to RANGE_LINK base_laser1d 0
2022-07-22T04:32:13.9804512Z 
2022-07-22T04:32:13.9804517Z 
2022-07-22T04:32:13.9804625Z                                                                                 
2022-07-22T04:32:13.9804951Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.472152648]: Sensor rhsensor is attached to RARM_LINK7 base_force6d 2
2022-07-22T04:32:13.9804971Z 
2022-07-22T04:32:13.9804976Z 
2022-07-22T04:32:13.9805071Z                                                                                 
2022-07-22T04:32:13.9805427Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.472622557]: Sensor RARM_CAMERA is attached to RARM_LINK7 base_pinhole_camera 3
2022-07-22T04:32:13.9805433Z 
2022-07-22T04:32:13.9805438Z 
2022-07-22T04:32:13.9805548Z                                                                                 
2022-07-22T04:32:13.9806048Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.472998964]: Sensor RARM_CAMERA_N is attached to RARM_LINK7 base_pinhole_camera 4
2022-07-22T04:32:13.9806059Z 
2022-07-22T04:32:13.9806064Z 
2022-07-22T04:32:13.9806172Z                                                                                 
2022-07-22T04:32:13.9806510Z [hrpsys_choreonoid_tutorials:make] [ WARN] [1658464323.473489173]: Sensor rfsensor is attached to RLEG_LINK5 base_force6d 0
2022-07-22T04:32:13.9806516Z 
2022-07-22T04:32:13.9806653Z s_choreonoid_tutorials:make]     Segment node RLEG_LINK0
2022-07-22T04:32:13.9806659Z 
2022-07-22T04:32:13.9806769Z                                                                                 
2022-07-22T04:32:13.9806918Z [hrpsys_choreonoid_tutorials:make]     Joint node RLEG_JOINT1
2022-07-22T04:32:13.9806924Z 
2022-07-22T04:32:13.9807032Z                                                                                 
2022-07-22T04:32:13.9807184Z [hrpsys_choreonoid_tutorials:make]       Segment node RLEG_LINK1
2022-07-22T04:32:13.9807190Z 
2022-07-22T04:32:13.9807372Z                                                                                 
2022-07-22T04:32:13.9807536Z [hrpsys_choreonoid_tutorials:make]       Joint node RLEG_JOINT2
2022-07-22T04:32:13.9807541Z 
2022-07-22T04:32:13.9807648Z                                                                                 
2022-07-22T04:32:13.9807796Z [hrpsys_choreonoid_tutorials:make]         Segment node RLEG_LINK2
2022-07-22T04:32:13.9807802Z 
2022-07-22T04:32:13.9807908Z                                                                                 
2022-07-22T04:32:13.9808054Z [hrpsys_choreonoid_tutorials:make]         Joint node RLEG_JOINT3
2022-07-22T04:32:13.9808059Z 
2022-07-22T04:32:13.9808169Z                                                                                 
2022-07-22T04:32:13.9808318Z [hrpsys_choreonoid_tutorials:make]           Segment node RLEG_LINK3
2022-07-22T04:32:13.9808327Z 
2022-07-22T04:32:13.9808434Z                                                                                 
2022-07-22T04:32:13.9808587Z [hrpsys_choreonoid_tutorials:make]           Joint node RLEG_JOINT4
2022-07-22T04:32:13.9808592Z 
2022-07-22T04:32:13.9808685Z                                                                                 
2022-07-22T04:32:13.9808838Z [hrpsys_choreonoid_tutorials:make]             Segment node RLEG_LINK4
2022-07-22T04:32:13.9808843Z 
2022-07-22T04:32:13.9808948Z                                                                                 
2022-07-22T04:32:13.9809097Z [hrpsys_choreonoid_tutorials:make]             Joint node RLEG_JOINT5
2022-07-22T04:32:13.9809103Z 
2022-07-22T04:32:13.9809211Z                                                                                 
2022-07-22T04:32:13.9809361Z [hrpsys_choreonoid_tutorials:make]               Segment node RLEG_LINK5
2022-07-22T04:32:13.9809366Z 
2022-07-22T04:32:13.9809476Z                                                                                 
2022-07-22T04:32:13.9809631Z [hrpsys_choreonoid_tutorials:make]                 ForceSensorrfsensor
2022-07-22T04:32:13.9809639Z 
2022-07-22T04:32:13.9809645Z 
2022-07-22T04:32:13.9809752Z                                                                                 
2022-07-22T04:32:13.9809883Z [hrpsys_choreonoid_tutorials:make] Humanoid node
2022-07-22T04:32:13.9809888Z 
2022-07-22T04:32:13.9809893Z 
2022-07-22T04:32:13.9809987Z                                                                                 
2022-07-22T04:32:13.9810122Z [hrpsys_choreonoid_tutorials:make] Joint node WAIST
2022-07-22T04:32:13.9810127Z 
2022-07-22T04:32:13.9810132Z 
2022-07-22T04:32:13.9810238Z                                                                                 
2022-07-22T04:32:13.9810376Z [hrpsys_choreonoid_tutorials:make]   Segment node BODY
2022-07-22T04:32:13.9810382Z 
2022-07-22T04:32:13.9810386Z 
2022-07-22T04:32:13.9810575Z                                                                                 
2022-07-22T04:32:13.9810709Z [hrpsys_choreonoid_tutorials:make] Humanoid node
2022-07-22T04:32:13.9810714Z 
2022-07-22T04:32:13.9810722Z 
2022-07-22T04:32:13.9810832Z                                                                                 
2022-07-22T04:32:13.9810967Z [hrpsys_choreonoid_tutorials:make] Joint node WAIST
2022-07-22T04:32:13.9810973Z 
2022-07-22T04:32:13.9810977Z 
2022-07-22T04:32:13.9811084Z                                                                                 
2022-07-22T04:32:13.9811221Z [hrpsys_choreonoid_tutorials:make]   Segment node BODY
2022-07-22T04:32:13.9811226Z 
2022-07-22T04:32:13.9811231Z 
2022-07-22T04:32:13.9811337Z                                                                                 
2022-07-22T04:32:13.9811455Z [hrpsys_choreonoid_tutorials:make] Humanoid node
2022-07-22T04:32:13.9811474Z 
2022-07-22T04:32:13.9811566Z                                                                                 
2022-07-22T04:32:13.9811703Z [hrpsys_choreonoid_tutorials:make] Joint node WAIST
2022-07-22T04:32:13.9811709Z 
2022-07-22T04:32:13.9811888Z                                                                                 
2022-07-22T04:32:13.9812037Z [hrpsys_choreonoid_tutorials:make]   Segment node BODY
2022-07-22T04:32:13.9812043Z 
2022-07-22T04:32:13.9812048Z 
2022-07-22T04:32:13.9812156Z                                                                                 
2022-07-22T04:32:13.9812546Z [hrpsys_choreonoid_tutorials:make] make[2]: Leaving directory '/github/home/ros/ws_rtmros_choreonoid/build/hrpsys_choreonoid_tutorials'
2022-07-22T04:32:13.9812552Z 
2022-07-22T04:32:13.9812557Z 
2022-07-22T04:32:13.9812663Z                                                                                 
2022-07-22T04:32:13.9812870Z [hrpsys_choreonoid_tutorials:make] [ 72%] Built target jaxon_jvrc_hrpsys_choreonoid_tutorials_compile_xml
2022-07-22T04:32:13.9812876Z 
2022-07-22T04:32:13.9812884Z 
2022-07-22T04:32:13.9812990Z                                                                                 
2022-07-22T04:32:13.9813164Z [hrpsys_choreonoid_tutorials:make] [ 81%] Generating jaxon_jvrc_joint_minmax_done
2022-07-22T04:32:13.9813170Z 
2022-07-22T04:32:13.9813175Z 
2022-07-22T04:32:13.9813284Z                                                                                 
2022-07-22T04:32:13.9814414Z [hrpsys_choreonoid_tutorials:make] DISPLAY= /opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl /github/home/ros/ws_rtmros_choreonoid/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/euslisp/make-joint-min-max-table.l /github/home/ros/ws_rtmros_choreonoid/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/models/jaxon_jvrc.l ""\(write-min-max-table-to-robot-model-file\ \(jaxon_jvrc\)\ \"/github/home/ros/ws_rtmros_choreonoid/src/rtmros_choreonoid/hrpsys_choreonoid_tut
2022-07-22T04:32:13.9814514Z                                                                                 
2022-07-22T04:32:13.9814812Z [hrpsys_choreonoid_tutorials:make] Xserver connection failedCall Stack (max depth: 20):
2022-07-22T04:32:13.9814818Z 
2022-07-22T04:32:13.9814823Z 
2022-07-22T04:32:13.9814936Z                                                                                 
2022-07-22T04:32:13.9815166Z [hrpsys_choreonoid_tutorials:make]   0: at read-integer-array
2022-07-22T04:32:13.9815171Z 
2022-07-22T04:32:13.9815176Z 
2022-07-22T04:32:13.9815285Z                                                                                 
2022-07-22T04:32:13.9815508Z [hrpsys_choreonoid_tutorials:make]   1: at read-integer-array
2022-07-22T04:32:13.9815513Z 
2022-07-22T04:32:13.9815518Z 
2022-07-22T04:32:13.9815626Z                                                                                 
2022-07-22T04:32:13.9816139Z [hrpsys_choreonoid_tutorials:make] /opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl FATAL ERROR on make-joint-min-max-table: integer expected in read-integer-array, exitting...
2022-07-22T04:32:13.9816230Z 
2022-07-22T04:32:13.9816235Z 
2022-07-22T04:32:13.9816352Z                                                                                 
2022-07-22T04:32:13.9816724Z [hrpsys_choreonoid_tutorials:make] Please comment in (load "irteus/irtrobot.l") in make-joint-min-max-table.l for debug
2022-07-22T04:32:13.9816731Z 
2022-07-22T04:32:13.9816735Z 
2022-07-22T04:32:13.9816844Z                                                                                 
2022-07-22T04:32:13.9817015Z [hrpsys_choreonoid_tutorials:make] make[2]: *** [jaxon_jvrc_joint_minmax_done] Error 1
2022-07-22T04:32:13.9817021Z 
2022-07-22T04:32:13.9817027Z 
2022-07-22T04:32:13.9817137Z                                                                                 
2022-07-22T04:32:13.9817362Z [hrpsys_choreonoid_tutorials:make] make[1]: *** [CMakeFiles/jaxon_jvrc_hrpsys_choreonoid_tutorials_compile_joint_minmax.dir/all] Error 2
2022-07-22T04:32:13.9817387Z 
2022-07-22T04:32:13.9817481Z                                                                                 
2022-07-22T04:32:13.9817725Z [hrpsys_choreonoid_tutorials:make] make[1]: *** Waiting for unfinished jobs....
2022-07-22T04:32:13.9817733Z 
2022-07-22T04:32:13.9817738Z 
2022-07-22T04:32:13.9817854Z                                                                                 
2022-07-22T04:32:13.9817994Z [hrpsys_choreonoid_tutorials:make] make: *** [all] Error 2
2022-07-22T04:32:13.9818000Z 
2022-07-22T04:32:13.9818271Z orials/models/jaxon_jvrc.l\"\ :margin\ 1.0\)"" "(exit)" && touch /github/home/ros/ws_rtmros_choreonoid/build/hrpsys_choreonoid_tutorials/jaxon_jvrc_joint_minmax_done
2022-07-22T04:32:13.9818277Z 
2022-07-22T04:32:13.9818281Z
Naoki-Hiraoka commented 2 years ago

とりあえずrestartしました。

@kirohy このpull requestですが、まだpull requestを出してから日が浅く、他のurata系ユーザーの人でreviewしたいと思っている人がもしいた場合にreviewする時間がないのと、意外とpull requestを出した本人がミスに気付いて直したくなる可能性があるので、週明けくらいまで寝かせたほうが良いのではないかと思います。来週小島先生に対面でお願いしてacceptしてもらい、小島先生が権限があるリポジトリはmergeしてもらい、その後、それ以外のリポジトリについて岡田先生にmentionしてmergeをお願いする流れが良いのではないでしょうか。

そのために、週明けまでにテストを通すことを目指しましょう。

kindsenior commented 1 year ago

テストが通りましたのでマージしました