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start-jsk / rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system
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choreonoidが落ちてしまう. #48

Closed otsubo closed 9 years ago

otsubo commented 9 years ago 
roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch

を実行すると

[choreonoid-3] process has died [pid 117705, exit code 139, cmd /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid --start-simulation -o manager.is_master:YES -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib -o manager.modules.preload:.so -o manager.components.precreate: -o example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf __name:=choreonoid __log:=/home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/choreonoid-3.log].
log file: /home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/choreonoid-3*.log

というエラーが出て,choreonoidが落ちてしまいます. どういったことが考えられるでしょうか. 以下全ログです.

otsubo@axis:~/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid$ roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch 
... logging to /home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/roslaunch-axis-117651.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://axis:59637/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /chest_camera/CHESTCAMERA/camera_param_K: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/camera_param_P: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/frame_id: CHEST_CAMERA
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /larm_camera/LARMCAMERA/camera_param_K: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/camera_param_P: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/frame_id: LARM_CAMERA
 * /multisense/left/HEADLEFT/camera_param_K: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/camera_param_P: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/publish_depth: True
 * /multisense/pointcloud_bridge/transformed_camera_frame: True
 * /multisense/range_bridge/frame_id: HEAD_RANGE
 * /multisense/range_bridge/intensity: 1000
 * /rarm_camera/RARMCAMERA/camera_param_K: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/camera_param_P: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/frame_id: RARM_CAMERA
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /rotate_range/rotate_cycle: 4.0
 * /rotate_range/rotate_times: 4
 * /use_sim_time: True

NODES
  /chest_camera/
    CHESTCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /multisense/
    pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge)
    range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge)
  /multisense/left/
    HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge)
  /larm_camera/
    LARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /
    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)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp)
    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)
    head_left_frame_id (tf/static_transform_publisher)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hrpsys_ros_bridge_jvrc/jaxon_jvrc_hrpsys_config.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rotate_range (hrpsys_ros_bridge_jvrc/rotate_range.py)
    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)
  /rarm_camera/
    RARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)

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 rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
auto-starting new master
process[master]: started with pid [117664]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 929daff2-563b-11e5-8cc6-a0d3c114f842
process[rosout-1]: started with pid [117677]
started core service [/rosout]
process[modelloader-2]: started with pid [117701]
ready
process[choreonoid-3]: started with pid [117705]
$ choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
<BEGIN: rtc.conf>
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
<END: rtc.conf>
process[hrpsys_py-4]: started with pid [117731]
configuration ORB with localhost:2809
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
process[HrpsysSeqStateROSBridge-5]: started with pid [117740]
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
PDcontroller0: onInitialize() 
loading file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 0 < 10)
[ WARN] [1441724967.265157807]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1441724967.307769470]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[HrpsysJointTrajectoryBridge-6]: started with pid [117829]
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
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
                        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
                        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
process[hrpsys_state_publisher-7]: started with pid [117856]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 1 < 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
                        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
                        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
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
                        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
                        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
process[hrpsys_ros_diagnostics-8]: started with pid [117886]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 2 < 10)
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
The model was successfully loaded ! 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
[ INFO] [1441724969.620857147]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[diagnostic_aggregator-9]: started with pid [117911]
The model was successfully loaded ! 
The model was successfully loaded ! 
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
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] [1441724969.823665502]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC
[ INFO] [1441724969.824064138]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[hrpsys.py] wait for JAXON_JVRC : <hrpsys.rtm.RTcomponent instance at 0x7f14b7edbea8> ( timeout 3 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f14b7edbea8> isActive? = False 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[hrpsys_profile-10]: started with pid [118022]
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
create customizer : JAXON_JVRC
Warning : Three or more triangles is defined for a edge.
process[sensor_ros_bridge_connect-11]: started with pid [118054]
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:2809
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
PDcontroller0: on Activated 
[PDcontroller0] Gain file [/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.PDgains.dat] opened
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [118073]
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh: line 45: 117713 Segmentation fault      (core dumped) choreonoid $cnoid_proj $start_sim
[choreonoid-3] process has died [pid 117705, exit code 139, cmd /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid --start-simulation -o manager.is_master:YES -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib -o manager.modules.preload:.so -o manager.components.precreate: -o example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf __name:=choreonoid __log:=/home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/choreonoid-3.log].
log file: /home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/choreonoid-3*.log
[rtmlaunch] starting...  /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME JAXON_JVRC
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   0 /30
[sensor_ros_bridge_connect.py] wait for RTCmanager : axis
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 0 < 10)
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
('failed to load', 'SequencePlayer.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
('failed to load', 'StateHolder.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
('failed to load', 'ForwardKinematics.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf")
('failed to load', 'TorqueFilter.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf")
('failed to load', 'KalmanFilter.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs")
('failed to load', 'VirtualForceSensor.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
('failed to load', 'RemoveForceSensorLinkOffset.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es")
('failed to load', 'EmergencyStopper.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
('failed to load', 'ImpedanceController.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc")
('failed to load', 'AutoBalancer.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st")
('failed to load', 'Stabilizer.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes")
('failed to load', 'EmergencyStopper.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
('failed to load', 'SoftErrorLimiter.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
('failed to load', 'DataLogger.so')
[hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys.py] connecting components
[hrpsys.py]  connectComps : hrpsys requries rh, seq, sh and fk, please check rtcd.conf or rtcd arguments
[hrpsys.py] activating components
[hrpsys.py] Fail to find instance (['seq', 'SequencePlayer']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['sh', 'StateHolder']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['fk', 'ForwardKinematics']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['tf', 'TorqueFilter']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['kf', 'KalmanFilter']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['vs', 'VirtualForceSensor']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['rmfo', 'RemoveForceSensorLinkOffset']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['es', 'EmergencyStopper']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['ic', 'ImpedanceController']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['abc', 'AutoBalancer']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['st', 'Stabilizer']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['hes', 'EmergencyStopper']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['el', 'SoftErrorLimiter']) for getRTCInstanceList
[hrpsys.py] Fail to find instance (['log', 'DataLogger']) for getRTCInstanceList
Traceback (most recent call last):
  File "/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py", line 44, in <module>
    hcf.init(sys.argv[1], sys.argv[2])
  File "/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py", line 20, in init
    HrpsysConfigurator.init(self, robotname, url)
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2042, in init
    self.activateComps()
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 490, in activateComps
    r.start()
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 108, in start
    ec.activate_component(self.ref)
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 337, in activate_component
    return _omnipy.invoke(self, "activate_component", _0_RTC.ExecutionContext._d_activate_component, args)
omniORB.CORBA.TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[hrpsys_py-4] process has died [pid 117731, exit code 1, cmd /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py JAXON_JVRC /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService __name:=hrpsys_py __log:=/home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/hrpsys_py-4.log].
log file: /home/otsubo/.ros/log/929daff2-563b-11e5-8cc6-a0d3c114f842/hrpsys_py-4*.log
process[SequencePlayerServiceROSBridge-13]: started with pid [118084]
process[DataLoggerServiceROSBridge-14]: started with pid [118110]
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   1 /30
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 1 < 10)
process[ForwardKinematicsServiceROSBridge-15]: started with pid [118139]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 2 < 10)
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   2 /30
process[StateHolderServiceROSBridge-16]: started with pid [118167]
process[AutoBalancerServiceROSBridge-17]: started with pid [118194]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 3 < 10)
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   3 /30
process[StabilizerServiceROSBridge-18]: started with pid [118223]
process[KalmanFilterServiceROSBridge-19]: started with pid [118250]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 4 < 10)
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   4 /30
process[ImpedanceControllerServiceROSBridge-20]: started with pid [118279]
process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [118306]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 5 < 10)
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   5 /30
process[SoftErrorLimiterServiceROSBridge-22]: started with pid [118335]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 6 < 10)
process[EmergencyStopperServiceROSBridge-23]: started with pid [118362]
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   6 /30
^C[EmergencyStopperServiceROSBridge-23] killing on exit
[SoftErrorLimiterServiceROSBridge-22] killing on exit
[RemoveForceSensorLinkOffsetServiceROSBridge-21] killing on exit
[ImpedanceControllerServiceROSBridge-20] killing on exit
[KalmanFilterServiceROSBridge-19] killing on exit
[StabilizerServiceROSBridge-18] killing on exit
[AutoBalancerServiceROSBridge-17] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[ForwardKinematicsServiceROSBridge-15] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
pure virtual method called
terminate called without an active exception
[SequencePlayerServiceROSBridge-13] killing on exit
[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
Traceback (most recent call last):
  File "/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 60, in <module>
    initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])
  File "/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 41, in initSensorRosBridgeConnection
    hcf.waitForRTCManagerAndRoboHardware(simulator_name, managerhost)
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 900, in waitForRTCManagerAndRoboHardware
[HrpsysJointTrajectoryBridge-6] killing on exit
    self.waitForRobotHardware(robotname)
  File "/home/otsubo/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 856, in waitForRobotHardware
    time.sleep(1);
KeyboardInterrupt
[HrpsysSeqStateROSBridge-5] killing on exit
[ INFO] [1441724979.304967974]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
cannot add process [HardEmergencyStopperServiceROSBridge-24] after process monitor has been shut down
The traceback for the exception was written to the log file
otsubo@axis:~/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid$
otsubo commented 9 years ago

14 と違って,一度choreonoidが上がるのですが,すぐに落ちてしまいます.

snozawa commented 9 years ago

見ている箇所はすごく惜しいですね。

[choreonoid-3] ....の部分はroslaunchの出力しているもので、起動したノードがしんでますというものです。 ログのその１行上にヒントがあります。 数行分くらい上をみると

[PDcontroller0] Gain file [/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.PDgains.dat] opened
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [118073]
/home/boots/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh: line 45: 117713 Segmentation fault      (core dumped) choreonoid $cnoid_proj $start_sim

とありますね。 一番最後の行でrun_choreonoid.shの45行目のchoreonoidの箇所でエラーがでてる。

次は、run_choreonoid.shがrtmros_choreonoid/hrpsys_choreonoid/launch以下にあるとエラー文にでてるので、run_choreonoid.shをみてみる。 と、

(cd /tmp; choreonoid $cnoid_proj $start_sim)

とあって、エラーにある行がでてくる。

ということで、例えばgdbを

(cd /tmp; gdb -ex run --args choreonoid $cnoid_proj $start_sim)

のようにして実行してみるとどうなるかな？

YoheiKakiuchi commented 9 years ago

不真面目デバッグとしては，

choreonoidのプロセスが残っていて，2重立ち上げになっている．

以下を忘れている．

sudo mkdir -p /usr/lib/choreonoid-1.5/customizer; sudo mkdir /usr/lib/choreonoid-1.5/rtc # if needed
roscd hrpsys_ros_bridge_jvrc; sudo cp config/SensorReaderRTC.*conf /usr/lib/choreonoid-1.5/rtc
sudo cp ~/ros/indigo_parent/devel/lib/{HG,PD}controller.so /usr/lib/choreonoid-1.5/rtc

hrpsys_choreonoidのmakeの時にルートパスワードを打っていない

くらいでしょうか．

choreonoid単体で立ち上がるか (choreonoidと打ってみる)

choreonoid.launchのstart_simulatorをfalseにすると，自動的にシミュレーションが実行されないのでchoreonoidのメッセージがよく読める． https://github.com/start-jsk/rtmros_choreonoid/blob/master/hrpsys_choreonoid/launch/choreonoid.launch

jaxon_jvrc_choreonoid.launch ではなくて， jaxon_jvrc_startup_choreonoid.launch にするとブリッジが立ち上がらないので， メッセージがへってちょっと分かりやすい．

otsubo commented 9 years ago

@snozawa さん ありがとうございます.

(cd /tmp; gdb -ex run --args choreonoid $cnoid_proj $start_sim)

で実行してみると,エラー文はでないのですが,choreonoidの画面が暗くなって

[ WARN] [1441728882.266859367, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

のようなwarningが流れ続けます. 以下全ログです.

otsubo@axis:~$ roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch 
... logging to /home/otsubo/.ros/log/a6b92e3e-5646-11e5-b485-a0d3c114f842/roslaunch-axis-87260.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://axis:35693/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /chest_camera/CHESTCAMERA/camera_param_K: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/camera_param_P: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/frame_id: CHEST_CAMERA
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /larm_camera/LARMCAMERA/camera_param_K: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/camera_param_P: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/frame_id: LARM_CAMERA
 * /multisense/left/HEADLEFT/camera_param_K: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/camera_param_P: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/publish_depth: True
 * /multisense/pointcloud_bridge/transformed_camera_frame: True
 * /multisense/range_bridge/frame_id: HEAD_RANGE
 * /multisense/range_bridge/intensity: 1000
 * /rarm_camera/RARMCAMERA/camera_param_K: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/camera_param_P: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/frame_id: RARM_CAMERA
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /rotate_range/rotate_cycle: 4.0
 * /rotate_range/rotate_times: 4
 * /use_sim_time: True

NODES
  /chest_camera/
    CHESTCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /multisense/
    pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge)
    range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge)
  /multisense/left/
    HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge)
  /larm_camera/
    LARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /
    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)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp)
    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)
    head_left_frame_id (tf/static_transform_publisher)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hrpsys_ros_bridge_jvrc/jaxon_jvrc_hrpsys_config.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rotate_range (hrpsys_ros_bridge_jvrc/rotate_range.py)
    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)
  /rarm_camera/
    RARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)

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 rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
auto-starting new master
process[master]: started with pid [87272]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a6b92e3e-5646-11e5-b485-a0d3c114f842
process[rosout-1]: started with pid [87285]
started core service [/rosout]
process[modelloader-2]: started with pid [87309]
ready
process[choreonoid-3]: started with pid [87313]
$ choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
<BEGIN: rtc.conf>
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
<END: rtc.conf>
GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from choreonoid...(no debugging symbols found)...done.
Starting program: /usr/bin/choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid --start-simulation
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Traceback (most recent call last):
  File "/usr/share/gdb/auto-load/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19-gdb.py", line 63, in <module>
    from libstdcxx.v6.printers import register_libstdcxx_printers
ImportError: No module named 'libstdcxx'
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[hrpsys_py-4]: started with pid [87327]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
configuration ORB with localhost:2809
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[New Thread 0x7fffe6b85700 (LWP 87336)]
[New Thread 0x7fffe6384700 (LWP 87337)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffdf995700 (LWP 87338)]
[New Thread 0x7fffdf194700 (LWP 87339)]
[New Thread 0x7fffde993700 (LWP 87340)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[HrpsysSeqStateROSBridge-5]: started with pid [87344]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread 0x7fffdf194700 (LWP 87339) exited]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffdf194700 (LWP 87390)]
[New Thread 0x7fffc453a700 (LWP 87391)]
[New Thread 0x7fffc3d39700 (LWP 87392)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc332c700 (LWP 87398)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc1948700 (LWP 87399)]
[hrpsys.py] wait for RTCmanager : None
[New Thread 0x7fffc1147700 (LWP 87400)]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 0 < 10)
[ WARN] [1441729725.136790604]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1441729725.179408857]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[HrpsysJointTrajectoryBridge-6]: started with pid [87440]
[New Thread 0x7fffc081e700 (LWP 87449)]
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 1 < 10)
process[hrpsys_state_publisher-7]: started with pid [87467]
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
                        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
                        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
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
                        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
                        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
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
PDcontroller0: onInitialize() 
loading file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[hrpsys_ros_diagnostics-8]: started with pid [87498]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 2 < 10)
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
The model was successfully loaded ! 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
The model was successfully loaded ! 
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] [1441729727.590575718]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC
[ INFO] [1441729727.591027000]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
process[diagnostic_aggregator-9]: started with pid [87543]
[ INFO] [1441729727.619532404]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
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
                        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
                        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_JVRC : None ( timeout 3 < 10)
process[hrpsys_profile-10]: started with pid [87625]
[New Thread 0x7fffb0956700 (LWP 87635)]
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
The model was successfully loaded ! 
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 4 < 10)
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[New Thread 0x7fffabbf6700 (LWP 87654)]
[Thread 0x7fffabbf6700 (LWP 87654) exited]
[New Thread 0x7fffab3f5700 (LWP 87655)]
[Thread 0x7fffab3f5700 (LWP 87655) exited]
process[sensor_ros_bridge_connect-11]: started with pid [87656]
[New Thread 0x7fffaabf4700 (LWP 87662)]
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:2809
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [87671]
[hrpsys.py] wait for JAXON_JVRC : <hrpsys.rtm.RTcomponent instance at 0x7fc547ccde60> ( timeout 5 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fc547ccde60> isActive? = False 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[rtmlaunch] starting...  /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME JAXON_JVRC
[New Thread 0x7fffaa3f3700 (LWP 87683)]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:q
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fffa9bf2700 (LWP 87687)]
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:tau
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fffa93f1700 (LWP 87688)]
[New Thread 0x7fffa8bf0700 (LWP 87689)]
[sensor_ros_bridge_connect.py] wait for RTCmanager : axis
[New Thread 0x7fff9bfff700 (LWP 87690)]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : <hrpsys.rtm.RTcomponent instance at 0x7fe12e629cb0> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fe12e629cb0> isActive? = False 
[New Thread 0x7fff9b7fe700 (LWP 87691)]
[sensor_ros_bridge_connect.py] simulation_mode : True
[rtmlaunch] Wait for  /localhost:2809/StateHolderServiceROSBridge.rtc:StateHolderService   0 /30
create customizer : JAXON_JVRC
process[SequencePlayerServiceROSBridge-13]: started with pid [87692]
Warning : Three or more triangles is defined for a edge.
[New Thread 0x7fff9affd700 (LWP 87701)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7fff9a2ab700 (LWP 87720)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7fff99aaa700 (LWP 87721)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7fff992a9700 (LWP 87722)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7fff98aa8700 (LWP 87723)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7fff7bfff700 (LWP 87724)]
[New Thread 0x7fff7b7fe700 (LWP 87725)]
[New Thread 0x7fff7affd700 (LWP 87726)]
PDcontroller0: on Activated 
[PDcontroller0] Gain file [/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.PDgains.dat] opened
*** Error in `/usr/bin/choreonoid': malloc(): memory corruption (fast): 0x000000000ab58e60 ***

Program received signal SIGABRT, Aborted.
[ INFO] [1441729731.265411027, 0.001000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0)
0x00007ffff5f4ccc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) [rtmlaunch] Wait for  /localhost:2809/StateHolderServiceROSBridge.rtc:StateHolderService   1 /30
process[DataLoggerServiceROSBridge-14]: started with pid [87730]
process[ForwardKinematicsServiceROSBridge-15]: started with pid [87739]
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
process[StateHolderServiceROSBridge-16]: started with pid [87748]
process[AutoBalancerServiceROSBridge-17]: started with pid [87757]
process[StabilizerServiceROSBridge-18]: started with pid [87766]
process[KalmanFilterServiceROSBridge-19]: started with pid [87775]
process[ImpedanceControllerServiceROSBridge-20]: started with pid [87784]
[ WARN] [1441729736.272557648, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [87793]
process[SoftErrorLimiterServiceROSBridge-22]: started with pid [87802]
process[EmergencyStopperServiceROSBridge-23]: started with pid [87811]
process[HardEmergencyStopperServiceROSBridge-24]: started with pid [87820]
process[footcoords-25]: started with pid [87829]
process[stabilizer_watcher-26]: started with pid [87939]
/home/otsubo/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:66: 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/otsubo/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:67: 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)
process[rtmlaunch_vision_connect-27]: started with pid [87961]
[rtmlaunch] starting...  /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/launch/vision_connect.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME Simulator
[ WARN] [1441729741.279126873, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
process[chest_camera/CHESTCAMERA-28]: started with pid [87972]
process[larm_camera/LARMCAMERA-29]: started with pid [87981]
process[rarm_camera/RARMCAMERA-30]: started with pid [87990]
process[multisense/left/HEADLEFT-31]: started with pid [87999]
process[multisense/range_bridge-32]: started with pid [88008]
process[multisense/pointcloud_bridge-33]: started with pid [88017]
process[head_left_frame_id-34]: started with pid [88026]
process[rotate_range-35]: started with pid [88044]
[ WARN] [1441729746.283837921, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729751.287920504, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729756.291685279, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729761.293752869, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729766.294550345, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729771.302768389, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729776.312098786, 0.006000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

@YoheiKakiuchi さん ありがとうございます. 上から順に確認していったところ,start_simulatorをfalseにして,立ち上げると,モデルとjaxonが表示され,startを押すとchoreonoidの画面が暗くなり,

[ WARN] [1441729251.573076341, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729251.965920955, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.312956207, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.761362327, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.786877132, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729253.184490172, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729254.213782111, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

のようなwarningが流れ続けます. 以下全ログです.

 roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch 
... logging to /home/otsubo/.ros/log/72680278-5645-11e5-9433-a0d3c114f842/roslaunch-axis-84915.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://axis:53167/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /chest_camera/CHESTCAMERA/camera_param_K: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/camera_param_P: [85.7444, 0, 319....
 * /chest_camera/CHESTCAMERA/frame_id: CHEST_CAMERA
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /larm_camera/LARMCAMERA/camera_param_K: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/camera_param_P: [417.031, 0, 319....
 * /larm_camera/LARMCAMERA/frame_id: LARM_CAMERA
 * /multisense/left/HEADLEFT/camera_param_K: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/camera_param_P: [240, 0, 319.5, 0...
 * /multisense/left/HEADLEFT/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/frame_id: multisense/left_c...
 * /multisense/pointcloud_bridge/publish_depth: True
 * /multisense/pointcloud_bridge/transformed_camera_frame: True
 * /multisense/range_bridge/frame_id: HEAD_RANGE
 * /multisense/range_bridge/intensity: 1000
 * /rarm_camera/RARMCAMERA/camera_param_K: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/camera_param_P: [879.192, 0, 319....
 * /rarm_camera/RARMCAMERA/frame_id: RARM_CAMERA
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /rotate_range/rotate_cycle: 4.0
 * /rotate_range/rotate_times: 4
 * /use_sim_time: True

NODES
  /chest_camera/
    CHESTCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /multisense/
    pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge)
    range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge)
  /multisense/left/
    HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge)
  /larm_camera/
    LARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)
  /
    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)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp)
    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)
    head_left_frame_id (tf/static_transform_publisher)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hrpsys_ros_bridge_jvrc/jaxon_jvrc_hrpsys_config.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rotate_range (hrpsys_ros_bridge_jvrc/rotate_range.py)
    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)
  /rarm_camera/
    RARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)

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 rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="CHESTCAMERA" ns="chest_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="CHEST_CAMERA"/>
    <rosparam param="camera_param_K">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:CHEST_CAMERA" to="CHESTCAMERA.rtc:timedImage"/>
    <rtactivate component="CHESTCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="LARMCAMERA" ns="larm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="LARM_CAMERA"/>
    <rosparam param="camera_param_K">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:LARM_CAMERA" to="LARMCAMERA.rtc:timedImage"/>
    <rtactivate component="LARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="RARMCAMERA" ns="rarm_camera" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="RARM_CAMERA"/>
    <rosparam param="camera_param_K">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>
    <rosparam param="camera_param_P">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>
    <rtconnect from="JAXON_JVRC.rtc:RARM_CAMERA" to="RARMCAMERA.rtc:timedImage"/>
    <rtactivate component="RARMCAMERA.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="HEADLEFT" ns="multisense/left" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="ImageSensorROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <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_JVRC.rtc:HEAD_LEFT_CAMERA" to="HEADLEFT.rtc:timedImage"/>
    <rtactivate component="HEADLEFT.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="range_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="RangeSensorROSBridge">
    <param name="frame_id" value="HEAD_RANGE"/>
    <param name="intensity" value="1000"/>
    <remap from="range" to="lidar_scan"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_RANGE" to="RangeSensorROSBridge0.rtc:range"/>
    <rtactivate component="RangeSensorROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
WARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args="$(arg openrtm_args)" name="pointcloud_bridge" ns="multisense" output="$(arg OUTPUT)" pkg="hrpsys_ros_bridge" type="PointCloudROSBridge">
    <param name="frame_id" value="multisense/left_camera_optiocal_frame"/>
    <param name="publish_depth" value="true"/>
    <param name="transformed_camera_frame" value="true"/>
    <remap from="points" to="organized_point2_color"/>
    <rtconnect from="JAXON_JVRC.rtc:HEAD_LEFT_DEPTH" to="PointCloudROSBridge0.rtc:points"/>
    <rtactivate component="PointCloudROSBridge0.rtc"/>
  </node>
auto-starting new master
process[master]: started with pid [84927]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 72680278-5645-11e5-9433-a0d3c114f842
process[rosout-1]: started with pid [84940]
started core service [/rosout]
process[modelloader-2]: started with pid [84964]
ready
process[choreonoid-3]: started with pid [84968]
$ choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
<BEGIN: rtc.conf>
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
<END: rtc.conf>
GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from choreonoid...(no debugging symbols found)...done.
Starting program: /usr/bin/choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Traceback (most recent call last):
  File "/usr/share/gdb/auto-load/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19-gdb.py", line 63, in <module>
    from libstdcxx.v6.printers import register_libstdcxx_printers
ImportError: No module named 'libstdcxx'
process[hrpsys_py-4]: started with pid [84982]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
configuration ORB with localhost:2809
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[HrpsysSeqStateROSBridge-5]: started with pid [84991]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe6b85700 (LWP 84993)]
[New Thread 0x7fffe6384700 (LWP 85008)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffdf995700 (LWP 85039)]
[New Thread 0x7fffdf194700 (LWP 85040)]
[New Thread 0x7fffde993700 (LWP 85041)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[HrpsysJointTrajectoryBridge-6]: started with pid [85045]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ WARN] [1441729207.244606478]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1441729207.281822925]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
[Thread 0x7fffdf194700 (LWP 85040) exited]
loading /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Manager not found
[hrpsys.py] wait for RTCmanager : None
process[hrpsys_state_publisher-7]: started with pid [85110]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffdf194700 (LWP 85140)]
[New Thread 0x7fffc453a700 (LWP 85141)]
[New Thread 0x7fffc3d39700 (LWP 85142)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc332c700 (LWP 85148)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[hrpsys_ros_diagnostics-8]: started with pid [85149]
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
                        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
                        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/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
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
                        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
                        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
process[diagnostic_aggregator-9]: started with pid [85172]
[New Thread 0x7fffc06e5700 (LWP 85193)]
[hrpsys.py] wait for RTCmanager : None
[New Thread 0x7fffbfee4700 (LWP 85194)]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 0 < 10)
process[hrpsys_profile-10]: started with pid [85253]
[New Thread 0x7fffbf6e3700 (LWP 85263)]
process[sensor_ros_bridge_connect-11]: started with pid [85266]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:2809
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 1 < 10)
PDcontroller0: onInitialize() 
loading file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
The model was successfully loaded ! 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
[ INFO] [1441729209.590043491]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [85293]
The model was successfully loaded ! 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
duplicated sensor Id is specified(id = 0, name = HEAD_RANGE)
duplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)
duplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)
duplicated sensor Id is specified(id = 3, name = lhsensor)
duplicated sensor Id is specified(id = 4, name = LARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = RARM_CAMERA)
duplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)
duplicated sensor Id is specified(id = 1, name = lfsensor)
duplicated sensor Id is specified(id = 0, name = rfsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
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] [1441729209.839726875]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC
[ INFO] [1441729209.840063788]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
process[SequencePlayerServiceROSBridge-13]: started with pid [85321]
[New Thread 0x7fffbc8c6700 (LWP 85332)]
[rtmlaunch] starting...  /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME JAXON_JVRC
[New Thread 0x7fffaffff700 (LWP 85344)]
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   0 /30
process[DataLoggerServiceROSBridge-14]: started with pid [85361]
[New Thread 0x7fffaf7fe700 (LWP 85362)]
[sensor_ros_bridge_connect.py] wait for RTCmanager : axis
[New Thread 0x7fffaeffd700 (LWP 85363)]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 0 < 10)
[New Thread 0x7fffae7fc700 (LWP 85372)]
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
                        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
                        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_JVRC : None ( timeout 2 < 10)
process[ForwardKinematicsServiceROSBridge-15]: started with pid [85391]
[New Thread 0x7fffadffb700 (LWP 85400)]
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   1 /30
process[StateHolderServiceROSBridge-16]: started with pid [85423]
[New Thread 0x7fffad7fa700 (LWP 85432)]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 1 < 10)
[hrpsys.py] wait for JAXON_JVRC : None ( timeout 3 < 10)
process[AutoBalancerServiceROSBridge-17]: started with pid [85451]
[New Thread 0x7fffacff9700 (LWP 85460)]
The model was successfully loaded ! 
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[New Thread 0x7fff8bfff700 (LWP 85479)]
[Thread 0x7fff8bfff700 (LWP 85479) exited]
[New Thread 0x7fff8b7fe700 (LWP 85480)]
[Thread 0x7fff8b7fe700 (LWP 85480) exited]
[New Thread 0x7fff8affd700 (LWP 85481)]
process[StabilizerServiceROSBridge-18]: started with pid [85486]
[New Thread 0x7fff8a7fc700 (LWP 85495)]
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   2 /30
process[KalmanFilterServiceROSBridge-19]: started with pid [85520]
[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : <hrpsys.rtm.RTcomponent instance at 0x7ff1050f6cb0> ( timeout 2 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7ff1050f6cb0> isActive? = False 
[sensor_ros_bridge_connect.py] simulation_mode : True
[New Thread 0x7fff89ffb700 (LWP 85529)]
[hrpsys.py] wait for JAXON_JVRC : <hrpsys.rtm.RTcomponent instance at 0x7f1239c8ee18> ( timeout 4 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f1239c8ee18> isActive? = False 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
process[ImpedanceControllerServiceROSBridge-20]: started with pid [85549]
[New Thread 0x7fff897fa700 (LWP 85558)]
[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   3 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:q
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff7b2e0700 (LWP 85578)]
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:tau
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff7aadf700 (LWP 85579)]
process[RemoveForceSensorLinkOffsetServiceROSBridge-21]: started with pid [85582]
[New Thread 0x7fff7a2de700 (LWP 85586)]
[New Thread 0x7fff79add700 (LWP 85594)]
[rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   0 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  <hrpsys.rtm.RTcomponent instance at 0x7ff105103ea8>
process[SoftErrorLimiterServiceROSBridge-22]: started with pid [85616]
[New Thread 0x7fff792dc700 (LWP 85625)]
process[EmergencyStopperServiceROSBridge-23]: started with pid [85644]
[New Thread 0x7fff78adb700 (LWP 85653)]
[rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   1 /30
process[HardEmergencyStopperServiceROSBridge-24]: started with pid [85676]
[sensor_ros_bridge_connect.py]   wait for 'sh' :  None
[New Thread 0x7fff67fff700 (LWP 85685)]
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
SequencePlayer::onInitialize()
[New Thread 0x7fff674be700 (LWP 85705)]
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f1239c4b440> (315.7.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f1239ca9830>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
process[footcoords-25]: started with pid [85706]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
StateHolder: dt = 0.002
[New Thread 0x7fff66cbd700 (LWP 85707)]
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f1239b73dd0> (315.7.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f1239b9d050>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
fk: onInitialize()
[New Thread 0x7fff66222700 (LWP 85744)]
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f1239b7c1b8> (315.7.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f1239ca30e0>
[hrpsys.py]   eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
tf: onInitialize()
[New Thread 0x7fff657ec700 (LWP 85794)]
[hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7f1239c38098> (315.7.0)
("can't find a service named", 'service0')
[hrpsys.py]   eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[kf] onInitialize()
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[New Thread 0x7fff64daa700 (LWP 85820)]
[hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7f1239c55878> (315.7.0)
[hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7f1239cae290>
[hrpsys.py]   eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
vs: onInitialize()
[New Thread 0x7fff5bfff700 (LWP 85821)]
[hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7f12399e3d40> (315.7.0)
[hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7f1239b73830>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[rmfo] onInitialize()
process[stabilizer_watcher-26]: started with pid [85822]
[New Thread 0x7fff5b7fe700 (LWP 85823)]
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f12399c15a8> (315.7.0)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f1239ca8998>
[hrpsys.py]   eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[es] onInitialize()
[New Thread 0x7fff5adb6700 (LWP 85824)]
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f1239b97440> (315.7.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f1239ca3440>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
ImpedanceController::onInitialize()
[ic] force sensor ports
[ic]   name = rfsensor
[rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   2 /30
[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
[New Thread 0x7fff5a34d700 (LWP 85828)]
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f1239b7c830> (315.7.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f1239b7ff80>
[hrpsys.py]   eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[abc] onInitialize()
[sensor_ros_bridge_connect.py]   wait for 'sh' :  <hrpsys.rtm.RTcomponent instance at 0x7ff105117ab8>
[sensor_ros_bridge_connect.py]   bodyinfo URL = file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
[sensor_ros_bridge_connect.py]  connect  gsensor JAXON_JVRC.gsensor HrpsysSeqStateROSBridge0.gsensor
[rtm.py]    Connect JAXON_JVRC.gsensor - HrpsysSeqStateROSBridge0.gsensor
[New Thread 0x7fff5987e700 (LWP 85829)]
[sensor_ros_bridge_connect.py]  connect  gyrometer JAXON_JVRC.gyrometer HrpsysSeqStateROSBridge0.gyrometer
[rtm.py]    Connect JAXON_JVRC.gyrometer - HrpsysSeqStateROSBridge0.gyrometer
[New Thread 0x7fff5907d700 (LWP 85830)]
[sensor_ros_bridge_connect.py]  connect  lhsensor JAXON_JVRC.lhsensor HrpsysSeqStateROSBridge0.lhsensor
[rtm.py]    Connect JAXON_JVRC.lhsensor - HrpsysSeqStateROSBridge0.lhsensor
[New Thread 0x7fff5887c700 (LWP 85831)]
[sensor_ros_bridge_connect.py]  connect  lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor
[New Thread 0x7fff53fff700 (LWP 85832)]
[sensor_ros_bridge_connect.py]  connect  lhsensor sh.lhsensorOut HrpsysSeqStateROSBridge0.ref_lhsensor
[rtm.py]    Connect sh.lhsensorOut - HrpsysSeqStateROSBridge0.ref_lhsensor
[New Thread 0x7fff537fe700 (LWP 85834)]
[sensor_ros_bridge_connect.py]  connect  rhsensor JAXON_JVRC.rhsensor HrpsysSeqStateROSBridge0.rhsensor
[rtm.py]    Connect JAXON_JVRC.rhsensor - HrpsysSeqStateROSBridge0.rhsensor
[New Thread 0x7fff52ffd700 (LWP 85835)]
[sensor_ros_bridge_connect.py]  connect  rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor
[abc] abc_leg_offset =     [0, [rtm.py]    Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor
 0.1,  0][m]
[abc] End Effector [rleg]
[abc]   target = RLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [0,  0,  -0.1][m]
[abc] End Effector [lleg]
[abc]   target = LLEG_JOINT5, base = WAIST
[abc]   offset_pos =     [0,  0,  -0.1][m]
[abc] End Effector [rarm]
[abc]   target = RARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [0,  0.055,  -0.217][m]
[abc] End Effector [larm]
[abc]   target = LARM_JOINT7, base = CHEST_JOINT2
[abc]   offset_pos =     [0,  -0.055,  -0.217][m]
[abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m]
[abc] force sensor ports (4)
[New Thread 0x7fff527fc700 (LWP 85836)]
[abc]   name = ref_rfsensor
[sensor_ros_bridge_connect.py]  connect  rhsensor sh.rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor
[abc]   name = ref_lfsensor
[rtm.py]    Connect sh.rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor
[abc]   name = ref_rhsensor
[abc]   name = ref_lhsensor
[abc] limbCOPOffset ports (4)
[New Thread 0x7fff51ffb700 (LWP 85837)]
[sensor_ros_bridge_connect.py]  connect  lfsensor JAXON_JVRC.lfsensor HrpsysSeqStateROSBridge0.lfsensor
[abc]   name = limbCOPOffset_rfsensor
[rtm.py]    Connect JAXON_JVRC.lfsensor - HrpsysSeqStateROSBridge0.lfsensor
[abc]   name = limbCOPOffset_lfsensor
[abc]   name = limbCOPOffset_rhsensor
[New Thread 0x7fff517fa700 (LWP 85838)]
[New Thread 0x7fff50ff9700 (LWP 85839)]
[sensor_ros_bridge_connect.py]  connect  lfsensor rmfo.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor
[abc]   name = limbCOPOffset_lhsensor
[rtm.py]    Connect rmfo.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor
[New Thread 0x7fff4bfff700 (LWP 85840)]
[New Thread 0x7fff4b7fe700 (LWP 85841)]
[sensor_ros_bridge_connect.py]  connect  lfsensor sh.lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor
[rtm.py]    Connect sh.lfsensorOut - HrpsysSeqStateROSBridge0.ref_lfsensor
[New Thread 0x7fff4affd700 (LWP 85842)]
[sensor_ros_bridge_connect.py]  connect  rfsensor JAXON_JVRC.rfsensor HrpsysSeqStateROSBridge0.rfsensor
[rtm.py]    Connect JAXON_JVRC.rfsensor - HrpsysSeqStateROSBridge0.rfsensor
[hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7f1239b8e440> (315.7.0)
[New Thread 0x7fff4a7fc700 (LWP 85844)]
[sensor_ros_bridge_connect.py]  connect  rfsensor rmfo.off_rfsensor HrpsysSeqStateROSBridge0.off_rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - HrpsysSeqStateROSBridge0.off_rfsensor
[New Thread 0x7fff49ffb700 (LWP 85845)]
[sensor_ros_bridge_connect.py]  connect  rfsensor sh.rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor
[rtm.py]    Connect sh.rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor
[hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7f1239ba5170>
[hrpsys.py]   eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff497fa700 (LWP 85846)]
[st] onInitialize()
[sensor_ros_bridge_connect-11] process has finished cleanly
log file: /home/otsubo/.ros/log/72680278-5645-11e5-9433-a0d3c114f842/sensor_ros_bridge_connect-11*.log
[st] force sensor ports (4)
[st]   name = rfsensor
[st]   name = lfsensor
process[rtmlaunch_vision_connect-27]: started with pid [85849]
[st]   name = rhsensor
[st]   name = lhsensor
[st] limbCOPOffset ports (4)
[st]   name = limbCOPOffset_rfsensor
[st]   name = limbCOPOffset_lfsensor
[st]   name = limbCOPOffset_rhsensor
[st]   name = limbCOPOffset_lhsensor
[st] End Effector [rleg]
[st]   target = RLEG_JOINT5, base = WAIST
[st]   offset_pos =     [0,  0,  -0.1][m]
[st] End Effector [lleg]
[st]   target = LLEG_JOINT5, base = WAIST
[st]   offset_pos =     [0,  0,  -0.1][m]
[st] End Effector [rarm]
[st]   target = RARM_JOINT7, base = CHEST_JOINT2
[st]   offset_pos =     [0,  0.055,  -0.217][m]
[st] End Effector [larm]
[st]   target = LARM_JOINT7, base = CHEST_JOINT2
[st]   offset_pos =     [0,  -0.055,  -0.217][m]
[New Thread 0x7fff48ff9700 (LWP 85857)]
/home/otsubo/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:66: 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/otsubo/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:67: 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)
[hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7f1239b9d638> (315.7.0)
[hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7f1239a80a28>
[hrpsys.py]   eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[hes] onInitialize()
[New Thread 0x7fff487f8700 (LWP 85867)]
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f1239ba1488> (315.7.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f1239b9e248>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
el: onInitialize()
dof = 38
[el] Load joint limit table [8]
[el] CHEST_JOINT0:CHEST_JOINT1(13)
[el]   target_llimit_angle -2[deg], target_ulimit_angle 35[deg]
[el]   llimit_table[deg] -9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9,-9
[el]   ulimit_table[deg] 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9
[el] CHEST_JOINT1:CHEST_JOINT0(12)
[el]   target_llimit_angle -11[deg], target_ulimit_angle 11[deg]
[el]   llimit_table[deg] 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
[el]   ulimit_table[deg] 33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33,33
[el] HEAD_JOINT0:HEAD_JOINT1(16)
[el]   target_llimit_angle -33[deg], target_ulimit_angle 40[deg]
[el]   llimit_table[deg] -31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31,-31
[el]   ulimit_table[deg] 30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,30,28,26,25,25,24,24,24,24,24,24,24,24,24,24
[el] HEAD_JOINT1:HEAD_JOINT0(15)
[el]   target_llimit_angle -33[deg], target_ulimit_angle 31[deg]
[el]   llimit_table[deg] 1,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32,-32
[el]   ulimit_table[deg] -1,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,29,27,26,26,25,25
[el] RARM_JOINT6:RARM_JOINT7(24)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89,-89
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87,87
[el] RARM_JOINT7:RARM_JOINT6(23)
[el]   target_llimit_angle -90[deg], target_ulimit_angle 88[deg]
[el]   llimit_table[deg] -62,-62,-62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
[el] LARM_JOINT6:LARM_JOINT7(32)
[el]   target_llimit_angle -81[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -61,-60,-60,-60,-62,-63,-64,-65,-67,-68,-69,-70,-72,-73,-75,-77,-80,-85,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87,-87
[el]   ulimit_table[deg] 61,60,60,60,62,63,64,65,67,68,69,70,72,73,75,77,80,85,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89,89
[el] LARM_JOINT7:LARM_JOINT6(31)
[el]   target_llimit_angle -88[deg], target_ulimit_angle 90[deg]
[el]   llimit_table[deg] -62,-62,-63,-63,-63,-63,-63,-64,-64,-64,-65,-65,-66,-66,-67,-68,-68,-69,-70,-71,-72,-72,-73,-74,-75,-76,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-80,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-68,-67,-66,-66,-65,-65,-64,-64,-64,-63,-63,-63,-63,-63,-62,-62,-62,-62
[el]   ulimit_table[deg] 59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59
[New Thread 0x7fff47ff7700 (LWP 85868)]
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f1239b73488> (315.7.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f1239b9e320>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
log: onInitialize()
[New Thread 0x7fff477f6700 (LWP 85869)]
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f12399e3ab8> (315.7.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f1239cae8c0>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - es.qRef
[rtm.py]    Connect es.q - ic.qRef
[rtm.py]    Connect ic.q - abc.qRef
[rtm.py]    Connect abc.q - st.qRef
[rtm.py]    Connect st.q - hes.qRef
[rtm.py]    Connect hes.q - el.qRef
[rtm.py]    Connect el.q - PDcontroller0.angleRef
[rtm.py]    Connect JAXON_JVRC.gsensor - kf.acc
[rtm.py]    Connect JAXON_JVRC.gyrometer - kf.rate
[rtm.py]    Connect JAXON_JVRC.q - kf.qCurrent
[rtm.py]    Connect JAXON_JVRC.q - sh.currentQIn
[rtm.py]    Connect JAXON_JVRC.q - fk.q
[rtm.py]    Connect sh.qOut - fk.qRef
[rtm.py]    Connect seq.qRef - sh.qIn
[rtm.py]    Connect seq.tqRef - sh.tqIn
[rtm.py]    Connect seq.basePos - sh.basePosIn
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn
[rtm.py]    Connect seq.zmpRef - sh.zmpIn
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn
[rtm.py]    Connect sh.basePosOut - seq.basePosInit
[rtm.py]    Connect sh.basePosOut - fk.basePosRef
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef
[rtm.py]    Connect sh.qOut - seq.qInit
[rtm.py]    Connect sh.zmpOut - seq.zmpRefInit
[rtm.py]    Connect seq.lhsensorRef - sh.lhsensorIn
[rtm.py]    Connect seq.rhsensorRef - sh.rhsensorIn
[rtm.py]    Connect seq.lfsensorRef - sh.lfsensorIn
[rtm.py]    Connect seq.rfsensorRef - sh.rfsensorIn
[rtm.py]    Connect kf.rpy - st.rpy
[rtm.py]    Connect sh.zmpOut - abc.zmpIn
[rtm.py]    Connect sh.basePosOut - abc.basePosIn
[rtm.py]    Connect sh.baseRpyOut - abc.baseRpyIn
[rtm.py]    Connect sh.optionalDataOut - abc.optionalData
[rtm.py]    Connect abc.zmpOut - st.zmpRef
[rtm.py]    Connect abc.baseRpyOut - st.baseRpyIn
[rtm.py]    Connect abc.basePosOut - st.basePosIn
[rtm.py]    Connect abc.accRef - kf.accRef
[rtm.py]    Connect abc.contactStates - st.contactStates
[rtm.py]    Connect abc.controlSwingSupportTime - st.controlSwingSupportTime
[rtm.py]    Connect JAXON_JVRC.q - st.qCurrent
[rtm.py]    Connect seq.qRef - st.qRefSeq
[rtm.py]    Connect st.emergencySignal - es.emergencySignal
[rtm.py]    Connect st.emergencySignal - abc.emergencySignal
[rtm.py]    Connect sh.lhsensorOut - st.lhsensorRef
[rtm.py]    Connect sh.lhsensorOut - ic.ref_lhsensorIn
[rtm.py]    Connect sh.lhsensorOut - abc.ref_lhsensor
[rtm.py]    Connect abc.limbCOPOffset_lhsensor - st.limbCOPOffset_lhsensor
[rtm.py]    Connect sh.rhsensorOut - st.rhsensorRef
[rtm.py]    Connect sh.rhsensorOut - ic.ref_rhsensorIn
[rtm.py]    Connect sh.rhsensorOut - abc.ref_rhsensor
[rtm.py]    Connect abc.limbCOPOffset_rhsensor - st.limbCOPOffset_rhsensor
[rtm.py]    Connect sh.lfsensorOut - st.lfsensorRef
[rtm.py]    Connect sh.lfsensorOut - ic.ref_lfsensorIn
[rtm.py]    Connect sh.lfsensorOut - abc.ref_lfsensor
[rtm.py]    Connect abc.limbCOPOffset_lfsensor - st.limbCOPOffset_lfsensor
[rtm.py]    Connect sh.rfsensorOut - st.rfsensorRef
[rtm.py]    Connect sh.rfsensorOut - ic.ref_rfsensorIn
[rtm.py]    Connect sh.rfsensorOut - abc.ref_rfsensor
[rtm.py]    Connect abc.limbCOPOffset_rfsensor - st.limbCOPOffset_rfsensor
[rtm.py]    Connect kf.rpy - rmfo.rpy
[rtm.py]    Connect JAXON_JVRC.q - rmfo.qCurrent
[rtm.py]    Connect JAXON_JVRC.lhsensor - rmfo.lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - st.lhsensor
[rtm.py]    Connect JAXON_JVRC.rhsensor - rmfo.rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - st.rhsensor
[rtm.py]    Connect JAXON_JVRC.lfsensor - rmfo.lfsensor
[rtm.py]    Connect rmfo.off_lfsensor - ic.lfsensor
[rtm.py]    Connect rmfo.off_lfsensor - st.lfsensor
[rtm.py]    Connect JAXON_JVRC.rfsensor - rmfo.rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - ic.rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - st.rfsensor
[rtm.py]    Connect JAXON_JVRC.q - ic.qCurrent
[rtm.py]    Connect sh.basePosOut - ic.basePosIn
process[chest_camera/CHESTCAMERA-28]: started with pid [85874]
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn
[rtm.py]    Connect JAXON_JVRC.tau - tf.tauIn
[rtm.py]    Connect JAXON_JVRC.q - tf.qCurrent
[rtm.py]    Connect JAXON_JVRC.q - vs.qCurrent
[rtmlaunch] starting...  /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/launch/vision_connect.launch
[rtm.py]    Connect tf.tauOut - vs.tauIn
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME Simulator
[rtm.py]    Connect JAXON_JVRC.q - el.qCurrent
[hrpsys.py] activating components
[rtmlaunch] check connection/activation
process[larm_camera/LARMCAMERA-29]: started with pid [85939]
[New Thread 0x7fff46ff5700 (LWP 85948)]
[ INFO] [1441729216.551165098]: [ImageSensorROSBridge] @Initilize name : CHESTCAMERA
[rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   3 /30
[rtmlaunch] Connected from localhost:2809/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch]             to localhost:2809/sh.rtc:StateHolderService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff467f4700 (LWP 85975)]
[rtmlaunch] Wait for  /localhost:2809/CHESTCAMERA.rtc:timedImage   0 /30
[rtmlaunch] Connected from localhost:2809/sh.rtc:qOut
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff45ff3700 (LWP 85979)]
[rtmlaunch] Connected from localhost:2809/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
[rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
[rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff457f2700 (LWP 85980)]
process[rarm_camera/RARMCAMERA-30]: started with pid [85999]
[New Thread 0x7fff44ff1700 (LWP 86008)]
[ INFO] [1441729216.937041994]: [ImageSensorROSBridge] @Initilize name : LARMCAMERA
[rtmlaunch] Wait for  /localhost:2809/log.rtc:DataLoggerService   0 /30
[rtmlaunch] Connected from localhost:2809/DataLoggerServiceROSBridge.rtc:DataLoggerService
[rtmlaunch]             to localhost:2809/log.rtc:DataLoggerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff37fff700 (LWP 86039)]
[rtmlaunch] Connected from localhost:2809/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
[rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff377fe700 (LWP 86040)]
[rtmlaunch] Connected from localhost:2809/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
[rtmlaunch]             to localhost:2809/fk.rtc:ForwardKinematicsService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff36ffd700 (LWP 86041)]
[rtmlaunch] Connected from localhost:2809/abc.rtc:baseTformOut
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff367fc700 (LWP 86059)]
[ INFO] [1441729217.280163099]: [ImageSensorROSBridge] @Initilize name : RARMCAMERA
process[multisense/left/HEADLEFT-31]: started with pid [86067]
[New Thread 0x7fff35ffb700 (LWP 86078)]
[rtmlaunch] Connected from localhost:2809/kf.rtc:rpy
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:baseRpy
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff357fa700 (LWP 86095)]
[rtmlaunch] Connected from localhost:2809/st.rtc:zmp
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rszmp
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff34ff9700 (LWP 86096)]
[rtmlaunch] Connected from localhost:2809/st.rtc:refCapturePoint
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsrefCapturePoint
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff23fff700 (LWP 86097)]
[rtmlaunch] Connected from localhost:2809/st.rtc:actCapturePoint
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsactCapturePoint
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff237fe700 (LWP 86098)]
[rtmlaunch] Connected from localhost:2809/AutoBalancerServiceROSBridge.rtc:AutoBalancerService
[rtmlaunch]             to localhost:2809/abc.rtc:AutoBalancerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff22ffd700 (LWP 86099)]
[rtmlaunch] Connected from localhost:2809/StabilizerServiceROSBridge.rtc:StabilizerService
[rtmlaunch]             to localhost:2809/st.rtc:StabilizerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff227fc700 (LWP 86100)]
[rtmlaunch] Connected from localhost:2809/KalmanFilterServiceROSBridge.rtc:KalmanFilterService
[rtmlaunch]             to localhost:2809/kf.rtc:KalmanFilterService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff21ffb700 (LWP 86101)]
[rtmlaunch] Connected from localhost:2809/st.rtc:COPInfo
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsCOPInfo
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff217fa700 (LWP 86102)]
[rtmlaunch] Connected from localhost:2809/ImpedanceControllerServiceROSBridge.rtc:ImpedanceControllerService
[rtmlaunch]             to localhost:2809/ic.rtc:ImpedanceControllerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff20ff9700 (LWP 86103)]
[rtmlaunch] Connected from localhost:2809/RemoveForceSensorLinkOffsetServiceROSBridge.rtc:RemoveForceSensorLinkOffsetService
[rtmlaunch]             to localhost:2809/rmfo.rtc:RemoveForceSensorLinkOffsetService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0ffff700 (LWP 86105)]
[rtmlaunch] Connected from localhost:2809/SoftErrorLimiterServiceROSBridge.rtc:SoftErrorLimiterService
[rtmlaunch]             to localhost:2809/el.rtc:SoftErrorLimiterService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0f7fe700 (LWP 86107)]
[rtmlaunch] Connected from localhost:2809/el.rtc:servoStateOut
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:servoState
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0effd700 (LWP 86108)]
[rtmlaunch] Connected from localhost:2809/es.rtc:emergencyMode
[rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:emergencyMode
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0e7fc700 (LWP 86109)]
[rtmlaunch] Connected from localhost:2809/EmergencyStopperServiceROSBridge.rtc:EmergencyStopperService
[rtmlaunch]             to localhost:2809/es.rtc:EmergencyStopperService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0dffb700 (LWP 86110)]
[rtmlaunch] Connected from localhost:2809/HardEmergencyStopperServiceROSBridge.rtc:EmergencyStopperService
[rtmlaunch]             to localhost:2809/hes.rtc:EmergencyStopperService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[New Thread 0x7fff0d7fa700 (LWP 86111)]
[rtmlaunch] Activate <- Inactive /localhost:2809/HrpsysSeqStateROSBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/HrpsysJointTrajectoryBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/StateHolderServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/AutoBalancerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/StabilizerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/KalmanFilterServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/ImpedanceControllerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/RemoveForceSensorLinkOffsetServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/SoftErrorLimiterServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/EmergencyStopperServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/HardEmergencyStopperServiceROSBridge.rtc
[ WARN] [1441729217.513392987]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1441729217.525595391]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1441729217.525675092]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 LARM_JOINT6 LARM_JOINT7
[HrpsysJointTrajectoryBridge] addJointGroup(larm), CORBA::SystemException OBJECT_NOT_EXIST
process[multisense/range_bridge-32]: started with pid [86195]
[New Thread 0x7fff0cff9700 (LWP 86210)]
[ INFO] [1441729217.728599029]: [ImageSensorROSBridge] @Initilize name : HEADLEFT
[ INFO] [1441729217.757078800]: [RangeSensorROSBridge] @Initilize name : RangeSensorROSBridge0
[rtmlaunch] Wait for  /localhost:2809/CHESTCAMERA.rtc:timedImage   1 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA
[rtmlaunch]             to localhost:2809/CHESTCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
process[multisense/pointcloud_bridge-33]: started with pid [86262]
[New Thread 0x7ffef3fff700 (LWP 86271)]
[New Thread 0x7ffef37fe700 (LWP 86277)]
[ INFO] [1441729218.152204213]: [PointCloudROSBridge] @Initilize name : PointCloudROSBridge0
[rtmlaunch] Wait for  /localhost:2809/LARMCAMERA.rtc:timedImage   0 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:LARM_CAMERA
[rtmlaunch]             to localhost:2809/LARMCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:RARM_CAMERA
[rtmlaunch]             to localhost:2809/RARMCAMERA.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_LEFT_CAMERA
[rtmlaunch]             to localhost:2809/HEADLEFT.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_RANGE
[rtmlaunch]             to localhost:2809/RangeSensorROSBridge0.rtc:range
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[New Thread 0x7ffef2ffd700 (LWP 86309)]
[New Thread 0x7ffef27fc700 (LWP 86310)]
[New Thread 0x7ffef1ffb700 (LWP 86311)]
[New Thread 0x7ffef17fa700 (LWP 86312)]
[ INFO] [1441729218.591484543]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1441729218.591571584]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 RARM_JOINT6 RARM_JOINT7
[HrpsysJointTrajectoryBridge] addJointGroup(rarm), CORBA::SystemException OBJECT_NOT_EXIST
process[head_left_frame_id-34]: started with pid [86357]
[rtmlaunch] Wait for  /localhost:2809/PointCloudROSBridge0.rtc:points   0 /30
[rtmlaunch] Connected from localhost:2809/JAXON_JVRC.rtc:HEAD_LEFT_DEPTH
[rtmlaunch]             to localhost:2809/PointCloudROSBridge0.rtc:points
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /localhost:2809/CHESTCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/LARMCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/RARMCAMERA.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/HEADLEFT.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/RangeSensorROSBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:2809/PointCloudROSBridge0.rtc
process[rotate_range-35]: started with pid [86375]
[ INFO] [1441729219.624618378]: SequencePlayerServiceROSBridge::setInterpolationMode() called
[ERROR] [1441729219.625075303]: SequencePlayerServiceROSBridge::setInterpolationMode : Caught CORBA::SystemException.
[ INFO] [1441729219.662891744]: ADD_GROUP: lleg (/lleg_controller)
[ INFO] [1441729219.662950171]:     JOINT: LLEG_JOINT0 LLEG_JOINT1 LLEG_JOINT2 LLEG_JOINT3 LLEG_JOINT4 LLEG_JOINT5
[HrpsysJointTrajectoryBridge] addJointGroup(lleg), CORBA::SystemException OBJECT_NOT_EXIST
[ INFO] [1441729220.718639005]: ADD_GROUP: rleg (/rleg_controller)
[ INFO] [1441729220.718704510]:     JOINT: RLEG_JOINT0 RLEG_JOINT1 RLEG_JOINT2 RLEG_JOINT3 RLEG_JOINT4 RLEG_JOINT5
[HrpsysJointTrajectoryBridge] addJointGroup(rleg), CORBA::SystemException OBJECT_NOT_EXIST
[ WARN] [1441729221.558163761]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1441729221.777889840]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1441729221.777949260]:     JOINT: CHEST_JOINT0 CHEST_JOINT1 CHEST_JOINT2
[HrpsysJointTrajectoryBridge] addJointGroup(torso), CORBA::SystemException OBJECT_NOT_EXIST
[ WARN] [1441729221.948439490]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[Thread 0x7fffde993700 (LWP 85041) exited]
[ WARN] [1441729222.289386891]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729222.519356983]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729222.745087426]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729222.763399681]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1441729222.835836768]: ADD_GROUP: head (/head_controller)
[ INFO] [1441729222.835901251]:     JOINT: HEAD_JOINT0 HEAD_JOINT1
[HrpsysJointTrajectoryBridge] addJointGroup(head), CORBA::SystemException OBJECT_NOT_EXIST
[ WARN] [1441729223.162483937]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1441729223.894836299]: ADD_GROUP: rhand (/rhand_controller)
[ INFO] [1441729223.894915287]:     JOINT: RARM_F_JOINT0 RARM_F_JOINT1
[HrpsysJointTrajectoryBridge] addJointGroup(rhand), CORBA::SystemException OBJECT_NOT_EXIST
[ INFO] [1441729224.953793979]: ADD_GROUP: lhand (/lhand_controller)
[ INFO] [1441729224.953876884]:     JOINT: LARM_F_JOINT0 LARM_F_JOINT1
[HrpsysJointTrajectoryBridge] addJointGroup(lhand), CORBA::SystemException OBJECT_NOT_EXIST
[ INFO] [1441729226.012553598]: ADD_GROUP: range (/range_controller)
[ INFO] [1441729226.012635093]:     JOINT: motor_joint
[HrpsysJointTrajectoryBridge] addJointGroup(range), CORBA::SystemException OBJECT_NOT_EXIST
[ WARN] [1441729226.558894881]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729226.953263396]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729227.294354100]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729227.529301472]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[New Thread 0x7fffde993700 (LWP 86761)]
[ WARN] [1441729227.745564914]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729227.765801861]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
create customizer : JAXON_JVRC
[ WARN] [1441729228.163493426]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
Warning : Three or more triangles is defined for a edge.
cloneMap.setNonNodeCloning(false);
[New Thread 0x7ffef0ff9700 (LWP 86762)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7ffed3fff700 (LWP 86763)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7ffed37fe700 (LWP 86764)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7ffed2ffd700 (LWP 86765)]
cloneMap.setNonNodeCloning(false);
[New Thread 0x7ffed27fc700 (LWP 86766)]
[rtmlaunch] check connection/activation
SequencePlayer::onActivated(1000)
fk: onActivated(1000)
tf: onActivated(1000)
[New Thread 0x7ffed1ffb700 (LWP 86768)]
[New Thread 0x7ffed17fa700 (LWP 86769)]
PDcontroller0: on Activated 
[ INFO] [1441729229.185031294, 0.001000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1157 Hz, dropped 0)

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7ffed27fc700 (LWP 86766)]
0x00007fffcb61454b in ?? () from /usr/lib/x86_64-linux-gnu/dri/nouveau_dri.so
(gdb) [ WARN] [1441729231.560211661, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729231.956875498, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729232.296688298, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729232.748760533, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729232.769144063, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729233.168508938, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729234.192716637, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729236.561357245, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729236.957244368, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729237.301410348, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729237.753108028, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729237.773472469, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729238.172987301, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729239.193264283, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729241.564844134, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729241.961221273, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729242.304286002, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729242.756587658, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729242.777003863, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729243.176097411, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729244.194279456, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729246.568978517, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729246.965429435, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729247.308463189, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729247.760769803, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729247.781964716, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729248.180979657, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729249.204034139, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729251.573076341, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729251.965920955, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.312956207, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.761362327, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729252.786877132, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729253.184490172, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729254.213782111, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729256.576788622, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729256.969563237, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729257.316404371, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729257.765080641, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729257.790574905, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729258.188320382, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729259.215592341, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729261.579961696, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729261.972753993, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729262.319853406, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729262.768144043, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729262.793680571, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729263.190912962, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729264.224501802, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729266.583988765, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729266.976997457, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729267.323789247, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729267.772506903, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729267.798017568, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729268.194731879, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729269.225738079, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729271.585202084, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729271.979377733, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729272.324274168, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729272.774264821, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729272.799702729, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729273.197117468, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729274.234131387, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729276.589798334, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729276.979540340, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729277.328677872, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729277.774720354, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729277.800236588, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729278.198019929, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729279.243055392, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729281.590629502, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729281.983437233, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729282.330171086, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729282.778722692, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729282.804083661, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729283.201731820, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729284.243851017, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729286.594355507, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729286.987272328, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729287.333935493, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729287.782781396, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729287.808284821, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729288.206212923, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729289.244411018, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729291.598749018, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729291.991263776, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729292.338386324, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729292.787184723, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729292.812643769, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729293.210154326, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729294.244532696, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729296.600299080, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729296.993168638, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729297.339867022, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729297.788785699, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729297.814356847, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729298.211553483, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729299.254110642, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729301.602372375, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729301.995802283, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729302.341674268, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729302.789495056, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729302.815876943, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729303.212837299, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729304.254541975, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729306.605993423, 0.002000000]: [CHESTCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729306.996088843, 0.002000000]: [LARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729307.343103226, 0.002000000]: [RARMCAMERA] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729307.789767098, 0.002000000]: [HEADLEFT] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729307.817634805, 0.002000000]: [RangeSensorROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729308.213222630, 0.002000000]: [PointCloudROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729309.264509585, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rotate_range-35] killing on exit
[head_left_frame_id-34] killing on exit
[multisense/pointcloud_bridge-33] killing on exit
[multisense/range_bridge-32] killing on exit
[multisense/left/HEADLEFT-31] killing on exit
[rarm_camera/RARMCAMERA-30] killing on exit
[larm_camera/LARMCAMERA-29] killing on exit
[chest_camera/CHESTCAMERA-28] killing on exit
[rtmlaunch_vision_connect-27] killing on exit
[stabilizer_watcher-26] killing on exit
[footcoords-25] killing on exit
[HardEmergencyStopperServiceROSBridge-24] killing on exit
[EmergencyStopperServiceROSBridge-23] killing on exit
Traceback (most recent call last):
  File "/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/rotate_range.py", line 56, in <module>
    rospy.sleep(0.01)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/timer.py", line 157, in sleep
    raise rospy.exceptions.ROSInterruptException("ROS shutdown request")
rospy.exceptions.ROSInterruptException: ROS shutdown request
[SoftErrorLimiterServiceROSBridge-22] killing on exit
[ WARN] [1441729314.265120446, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729319.266454666, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729324.268176237, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[multisense/pointcloud_bridge-33] escalating to SIGTERM
[multisense/left/HEADLEFT-31] escalating to SIGTERM
[multisense/range_bridge-32] escalating to SIGTERM
[rtmlaunch_vision_connect-27] escalating to SIGTERM
[chest_camera/CHESTCAMERA-28] escalating to SIGTERM
[larm_camera/LARMCAMERA-29] escalating to SIGTERM
[rarm_camera/RARMCAMERA-30] escalating to SIGTERM
[RemoveForceSensorLinkOffsetServiceROSBridge-21] killing on exit
[ImpedanceControllerServiceROSBridge-20] killing on exit
[KalmanFilterServiceROSBridge-19] killing on exit
[StabilizerServiceROSBridge-18] killing on exit
[AutoBalancerServiceROSBridge-17] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[HardEmergencyStopperServiceROSBridge-24] escalating to SIGTERM
[ForwardKinematicsServiceROSBridge-15] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
[EmergencyStopperServiceROSBridge-23] escalating to SIGTERM
[SoftErrorLimiterServiceROSBridge-22] escalating to SIGTERM
[SequencePlayerServiceROSBridge-13] killing on exit
[rtmlaunch_hrpsys_ros_bridge-12] killing on exit
[ WARN] [1441729329.276597524, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1441729334.279438415, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
cq[ WARN] [1441729339.282185352, 0.002000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
q
Undefined command: "cqq".  Try "help".
(gdb) 
Undefined command: "cqq".  Try "help".
(gdb) [RemoveForceSensorLinkOffsetServiceROSBridge-21] escalating to SIGTERM
[ImpedanceControllerServiceROSBridge-20] escalating to SIGTERM
[KalmanFilterServiceROSBridge-19] escalating to SIGTERM
[AutoBalancerServiceROSBridge-17] escalating to SIGTERM
[StabilizerServiceROSBridge-18] escalating to SIGTERM
[StateHolderServiceROSBridge-16] escalating to SIGTERM
[hrpsys_profile-10] killing on exit
[ForwardKinematicsServiceROSBridge-15] escalating to SIGTERM
[diagnostic_aggregator-9] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[hrpsys_state_publisher-7] killing on exit
[DataLoggerServiceROSBridge-14] escalating to SIGTERM
[HrpsysJointTrajectoryBridge-6] killing on exit
[HrpsysSeqStateROSBridge-5] killing on exit
[hrpsys_py-4] killing on exit
[choreonoid-3] killing on exit
Quit
(gdb) [ INFO] [1441729341.491509097, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[ INFO] [1441729341.491804001, 0.002000000]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
[modelloader-2] killing on exit
[ INFO] [1441729341.508904533, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
[ INFO] [1441729341.525133287, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (lleg
[ INFO] [1441729341.543624688, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rleg
[ INFO] [1441729341.562668377, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
[ INFO] [1441729341.576606500, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[ INFO] [1441729341.588659349, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rhand
[ INFO] [1441729341.600312707, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (lhand
[ INFO] [1441729341.611557085, 0.002000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (range
[SequencePlayerServiceROSBridge-13] escalating to SIGTERM
[rtmlaunch_hrpsys_ros_bridge-12] escalating to SIGTERM
[HrpsysSeqStateROSBridge-5] escalating to SIGTERM
[HrpsysJointTrajectoryBridge-6] escalating to SIGTERM
[hrpsys_py-4] escalating to SIGTERM
[choreonoid-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
otsubo@axis:~/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch$

choreonoid をstartしたところで死んでしまっているようなのですが,これは#14と同じ現象の可能性があるでじょうか.

YoheiKakiuchi commented 9 years ago

jaxon_jvrc_startup_choreonoid.launch を使って， https://github.com/start-jsk/rtmros_choreonoid/blob/master/hrpsys_ros_bridge_jvrc/launch/jaxon_jvrc_startup_choreonoid.launch

以下を消すと，hrpsys が立ち上がらなくなるので原因がはっきりすると思います． <arg name="HRPSYS_PY_PKG" default="hrpsys_ros_bridge_jvrc" />

できれば，choreonoid内のメッセージになにか出ていないか見てみて下さい．

otsubo commented 9 years ago 
<arg name="HRPSYS_PY_PKG" default="hrpsys_ros_bridge_jvrc" />

を消して,jaxon_jvrc_startup_choreonoid.launchを実行すると,上と同じプロセスが死んでしまいます.

otsubo@axis:~/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/launch$ roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_startup_choreonoid.launch 
... logging to /home/otsubo/.ros/log/8f6f9e36-56cb-11e5-acfd-a0d3c114f842/roslaunch-axis-5281.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://axis:49233/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /use_sim_time: True

NODES
  /
    choreonoid (hrpsys_choreonoid/run_choreonoid.sh)
    hrpsys_py (hrpsys_tools/jaxon_jvrc_hrpsys_config.py)
    modelloader (openhrp3/openhrp-model-loader)

auto-starting new master
process[master]: started with pid [5293]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8f6f9e36-56cb-11e5-acfd-a0d3c114f842
process[rosout-1]: started with pid [5306]
started core service [/rosout]
process[modelloader-2]: started with pid [5330]
ready
process[choreonoid-3]: started with pid [5334]
$ choreonoid /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid
with rtc.conf file on /tmp/rtc.conf.choreonoid
<BEGIN: rtc.conf>
manager.is_master:YES
corba.nameservers:localhost:2809
naming.formats:%n.rtc
logger.file_name:/tmp/rtc%p.log
manager.shutdown_onrtcs:NO
manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib
manager.modules.preload:.so
manager.components.precreate:
example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf
<END: rtc.conf>
ERROR: cannot launch node of type [hrpsys_tools/jaxon_jvrc_hrpsys_config.py]: can't locate node [jaxon_jvrc_hrpsys_config.py] in package [hrpsys_tools]
Loading body customizer "/usr/lib/choreonoid-1.5/customizer/JAXONCustomizer.so" for JAXON_JVRC
create customizer : JAXON_JVRC
PDcontroller0: onInitialize() 
loading file:///home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
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
                        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
                        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
The model was successfully loaded ! 
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/home/otsubo/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
create customizer : JAXON_JVRC
Warning : Three or more triangles is defined for a edge.
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
cloneMap.setNonNodeCloning(false);
PDcontroller0: on Activated 
[PDcontroller0] Gain file [/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.PDgains.dat] opened
*** Error in `choreonoid': double free or corruption (!prev): 0x000000000282a170 ***
/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh: line 45:  5342 Aborted                 (core dumped) choreonoid $cnoid_proj $start_sim
[choreonoid-3] process has died [pid 5334, exit code 134, cmd /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh /home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/jaxon_pd.cnoid --start-simulation -o manager.is_master:YES -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/otsubo/ros/indigo_parent/devel/share/hrpsys/lib -o manager.modules.preload:.so -o manager.components.precreate: -o example.SequencePlayer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ForwardKinematics.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ImpedanceController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AutoBalancer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.StateHolder.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueController.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoEstimator.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.VirtualForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AbsoluteForceSensor.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.KalmanFilter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.Stabilizer.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.CollisionDetector.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.SoftErrorLimiter.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.HGcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.PDcontroller.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.EmergencyStopper.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RobotHardware.config_file:/home/otsubo/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf __name:=choreonoid __log:=/home/otsubo/.ros/log/8f6f9e36-56cb-11e5-acfd-a0d3c114f842/choreonoid-3.log].
log file: /home/otsubo/.ros/log/8f6f9e36-56cb-11e5-acfd-a0d3c114f842/choreonoid-3*.log
^C[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

choreonoid内のメッセージはmodelがloadされたというメッセージが出て特に問題なさそうです. (貼り付けようとしたのですが,コピーする前に落ちてしまいます.) jaxon_jvrc_startup.launchを立ち上げてみたのですが,やはり同じプロセスが死んでしまいます. いったん,他の動いてるPCで作業することにしようと思うのですが,もし他に確認すべきことがあれば教えていただけますでしょうか.

YoheiKakiuchi commented 9 years ago

choreonoid単体では立ち上がる？

シミュレーションをスタートしなければ立ち上がる？ （おちるのはシミュレーションをスタートした後）

カンでいくと、nvidiaは正しく入っているかな？ glxinfo で何が表示される？ (sudo apt-get install mesa-utilsが必要かも)

otsubo commented 9 years ago

上から純に確認してみたところ,nvidiaが正しく入っていませんでした. システム設定から追加のドライバーを入れるとchoreonoidがちゃんと立ち上がりました.ありがとうございました.