無くなったはずのsrvファイルがあって*ri*が作れなかった

[mttamtam]

hrpsysまわりを最新にしてビルドしたあと、シミュレータを立ち上げ、 (jaxon_red-init) とすると、 /home/tamura/ros/indigo_parent/devel/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: unbound variable hrpsys_ros_bridge::openhrp_impedancecontrollerservice_getobjectturnarounddetectorparamrequest in (eval srv-request) と言われて、*ri*が作れませんでした。 当該の部分はOCTDとして別RTCになったはずなので、（https://github.com/fkanehiro/hrpsys-base/pull/1101） どこか古い何かが残っているのだと思いcatkin cleanしてもう一度ビルドしなおしてもダメで、 hrpsys_ros_bridge/srv以下に

OpenHRP_ImpedanceControllerService_getObjectContactTurnaroundDetectorParam.srv
OpenHRP_ImpedanceControllerService_getObjectForceMoments.srv

というのを見つけて（どこかで自動生成したのが残ったのだと思いますが）、rtmros_commonごと git clean -xfd してビルドしなおしたところ、今度は*ri*が作れるようになりました。

idl等が変わった時には--force-cmakeをつけてビルドするだけでなく、gitのリポジトリを綺麗にすると解決することもあることがわかりました。 一応報告しておきます。

[snozawa]

報告ありがとう。 これはこちらでも際限できるか確認してみます。 もしそうなら、ユーザの手を煩わせず長期的にはCMakeLists.txtで勝手にいいかんじにしてくれるべきなので、調べてみます。

これに加え、ロボットをアップデートしたときに全ユーザに影響がいかないように、 PR2ライクに、wsをわける、ユーザをわけるを各ロボットで使えるように整備しようと思ってます。 （が、こちらは７月くらいになるかも）

[mttamtam]

srvファイルが残っているのが悪い、と断定してしまったものの、いま問題なく動いていたデスクトップPCのほうを見てみると、

tamura@aconcagua:~/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge (master)$ ls srv
Img_CameraCaptureService_start_continuous.srv                            OpenHRP_ImpedanceControllerService_waitImpedanceControllerTransition.srv                    OpenHRP_SequencePlayerService_setJointAnglesSequenceFull.srv
Img_CameraCaptureService_stop_continuous.srv                             OpenHRP_KalmanFilterService_getKalmanFilterParam.srv                                        OpenHRP_SequencePlayerService_setJointAnglesSequenceOfGroup.srv
Img_CameraCaptureService_take_one_frame.srv                              OpenHRP_KalmanFilterService_resetKalmanFilterState.srv                                      OpenHRP_SequencePlayerService_setJointAnglesSequenceWithMask.srv
OpenHRP_AccelerationFilterService_getAccelerationFilterParam.srv         OpenHRP_KalmanFilterService_setKalmanFilterParam.srv                                        OpenHRP_SequencePlayerService_setJointAnglesWithMask.srv
OpenHRP_AccelerationFilterService_resetFilter.srv                        OpenHRP_NullService_echo.srv                                                                OpenHRP_SequencePlayerService_setMaxIKError.srv
OpenHRP_AccelerationFilterService_setAccelerationFilterParam.srv         OpenHRP_OGMap3DService_clear.srv                                                            OpenHRP_SequencePlayerService_setMaxIKIteration.srv
OpenHRP_AutoBalancerService_adjustFootSteps.srv                          OpenHRP_OGMap3DService_getOGMap3D.srv                                                       OpenHRP_SequencePlayerService_setTargetPose.srv
OpenHRP_AutoBalancerService_emergencyStop.srv                            OpenHRP_OGMap3DService_save.srv                                                             OpenHRP_SequencePlayerService_setWrenches.srv
OpenHRP_AutoBalancerService_getAutoBalancerParam.srv                     OpenHRP_ObjectContactTurnaroundDetectorService_checkObjectContactTurnaroundDetection.srv    OpenHRP_SequencePlayerService_setZmp.srv
OpenHRP_AutoBalancerService_getFootstepParam.srv                         OpenHRP_ObjectContactTurnaroundDetectorService_getObjectContactTurnaroundDetectorParam.srv  OpenHRP_SequencePlayerService_waitInterpolation.srv
OpenHRP_AutoBalancerService_getGaitGeneratorParam.srv                    OpenHRP_ObjectContactTurnaroundDetectorService_getObjectForcesMoments.srv                   OpenHRP_SequencePlayerService_waitInterpolationOfGroup.srv
OpenHRP_AutoBalancerService_getGoPosFootstepsSequence.srv                OpenHRP_ObjectContactTurnaroundDetectorService_setObjectContactTurnaroundDetectorParam.srv  OpenHRP_ServoControllerService_addJointGroup.srv
OpenHRP_AutoBalancerService_getRemainingFootstepSequence.srv             OpenHRP_ObjectContactTurnaroundDetectorService_startObjectContactTurnaroundDetection.srv    OpenHRP_ServoControllerService_getDuration.srv
OpenHRP_AutoBalancerService_goPos.srv                                    OpenHRP_ReferenceForceUpdaterService_getReferenceForceUpdaterParam.srv                      OpenHRP_ServoControllerService_getJointAngle.srv
OpenHRP_AutoBalancerService_goStop.srv                                   OpenHRP_ReferenceForceUpdaterService_setReferenceForceUpdaterParam.srv                      OpenHRP_ServoControllerService_getJointAngles.srv
OpenHRP_AutoBalancerService_goVelocity.srv                               OpenHRP_ReferenceForceUpdaterService_startReferenceForceUpdater.srv                         OpenHRP_ServoControllerService_getMaxTorque.srv
OpenHRP_AutoBalancerService_releaseEmergencyStop.srv                     OpenHRP_ReferenceForceUpdaterService_stopReferenceForceUpdater.srv                          OpenHRP_ServoControllerService_getSpeed.srv
OpenHRP_AutoBalancerService_setAutoBalancerParam.srv                     OpenHRP_RemoveForceSensorLinkOffsetService_dumpForceMomentOffsetParams.srv                  OpenHRP_ServoControllerService_getTemperature.srv
OpenHRP_AutoBalancerService_setFootSteps.srv                             OpenHRP_RemoveForceSensorLinkOffsetService_getForceMomentOffsetParam.srv                    OpenHRP_ServoControllerService_getTorque.srv
OpenHRP_AutoBalancerService_setFootStepsWithParam.srv                    OpenHRP_RemoveForceSensorLinkOffsetService_loadForceMomentOffsetParams.srv                  OpenHRP_ServoControllerService_getVoltage.srv
OpenHRP_AutoBalancerService_setGaitGeneratorParam.srv                    OpenHRP_RemoveForceSensorLinkOffsetService_removeForceSensorOffset.srv                      OpenHRP_ServoControllerService_removeJointGroup.srv
OpenHRP_AutoBalancerService_startAutoBalancer.srv                        OpenHRP_RemoveForceSensorLinkOffsetService_setForceMomentOffsetParam.srv                    OpenHRP_ServoControllerService_servoOff.srv
OpenHRP_AutoBalancerService_stopAutoBalancer.srv                         OpenHRP_RobotHardwareService_addJointGroup.srv                                              OpenHRP_ServoControllerService_servoOn.srv
OpenHRP_AutoBalancerService_waitFootSteps.srv                            OpenHRP_RobotHardwareService_calibrateInertiaSensor.srv                                     OpenHRP_ServoControllerService_setJointAngle.srv
OpenHRP_AutoBalancerService_waitFootStepsEarly.srv                       OpenHRP_RobotHardwareService_getStatus.srv                                                  OpenHRP_ServoControllerService_setJointAngles.srv
OpenHRP_CollisionDetectorService_disableCollisionDetection.srv           OpenHRP_RobotHardwareService_getStatus2.srv                                                 OpenHRP_ServoControllerService_setJointAnglesOfGroup.srv
OpenHRP_CollisionDetectorService_enableCollisionDetection.srv            OpenHRP_RobotHardwareService_initializeJointAngle.srv                                       OpenHRP_ServoControllerService_setMaxTorque.srv
OpenHRP_CollisionDetectorService_getCollisionStatus.srv                  OpenHRP_RobotHardwareService_lengthDigitalInput.srv                                         OpenHRP_ServoControllerService_setReset.srv
OpenHRP_CollisionDetectorService_setTolerance.srv                        OpenHRP_RobotHardwareService_lengthDigitalOutput.srv                                        OpenHRP_SoftErrorLimiterService_setServoErrorLimit.srv
OpenHRP_DataLoggerService_add.srv                                        OpenHRP_RobotHardwareService_power.srv                                                      OpenHRP_StabilizerService_dummy.srv
OpenHRP_DataLoggerService_clear.srv                                      OpenHRP_RobotHardwareService_readDigitalInput.srv                                           OpenHRP_StabilizerService_getParameter.srv
OpenHRP_DataLoggerService_maxLength.srv                                  OpenHRP_RobotHardwareService_readDigitalOutput.srv                                          OpenHRP_StabilizerService_setParameter.srv
OpenHRP_DataLoggerService_save.srv                                       OpenHRP_RobotHardwareService_removeForceSensorOffset.srv                                    OpenHRP_StabilizerService_startStabilizer.srv
OpenHRP_EmergencyStopperService_getEmergencyStopperParam.srv             OpenHRP_RobotHardwareService_servo.srv                                                      OpenHRP_StabilizerService_stopStabilizer.srv
OpenHRP_EmergencyStopperService_releaseMotion.srv                        OpenHRP_RobotHardwareService_setServoErrorLimit.srv                                         OpenHRP_StateHolderService_getCommand.srv
OpenHRP_EmergencyStopperService_setEmergencyStopperParam.srv             OpenHRP_RobotHardwareService_setServoGainPercentage.srv                                     OpenHRP_StateHolderService_goActual.srv
OpenHRP_EmergencyStopperService_stopMotion.srv                           OpenHRP_RobotHardwareService_writeDigitalOutput.srv                                         OpenHRP_ThermoLimiterService_getParameter.srv
OpenHRP_ExecutionProfileService_getComponentProfile.srv                  OpenHRP_RobotHardwareService_writeDigitalOutputWithMask.srv                                 OpenHRP_ThermoLimiterService_setParameter.srv
OpenHRP_ExecutionProfileService_getProfile.srv                           OpenHRP_SequencePlayerService_addJointGroup.srv                                             OpenHRP_TimeKeeperService_sleep.srv
OpenHRP_ExecutionProfileService_resetProfile.srv                         OpenHRP_SequencePlayerService_clear.srv                                                     OpenHRP_TorqueControllerService_disableMultipleTorqueControllers.srv
OpenHRP_ForwardKinematicsService_getCurrentPose.srv                      OpenHRP_SequencePlayerService_clearJointAngles.srv                                          OpenHRP_TorqueControllerService_disableTorqueController.srv
OpenHRP_ForwardKinematicsService_getReferencePose.srv                    OpenHRP_SequencePlayerService_clearJointAnglesOfGroup.srv                                   OpenHRP_TorqueControllerService_enableMultipleTorqueControllers.srv
OpenHRP_ForwardKinematicsService_getRelativeCurrentPosition.srv          OpenHRP_SequencePlayerService_clearNoWait.srv                                               OpenHRP_TorqueControllerService_enableTorqueController.srv
OpenHRP_ForwardKinematicsService_selectBaseLink.srv                      OpenHRP_SequencePlayerService_clearOfGroup.srv                                              OpenHRP_TorqueControllerService_getTorqueControllerParam.srv
OpenHRP_GraspControllerService_startGrasp.srv                            OpenHRP_SequencePlayerService_isEmpty.srv                                                   OpenHRP_TorqueControllerService_setMultipleReferenceTorques.srv
OpenHRP_GraspControllerService_stopGrasp.srv                             OpenHRP_SequencePlayerService_loadPattern.srv                                               OpenHRP_TorqueControllerService_setReferenceTorque.srv
OpenHRP_ImpedanceControllerService_checkObjectTurnaroundDetection.srv    OpenHRP_SequencePlayerService_playPattern.srv                                               OpenHRP_TorqueControllerService_setTorqueControllerParam.srv
OpenHRP_ImpedanceControllerService_getImpedanceControllerParam.srv       OpenHRP_SequencePlayerService_playPatternOfGroup.srv                                        OpenHRP_TorqueControllerService_startMultipleTorqueControls.srv
OpenHRP_ImpedanceControllerService_getObjectForcesMoments.srv            OpenHRP_SequencePlayerService_removeJointGroup.srv                                          OpenHRP_TorqueControllerService_startTorqueControl.srv
OpenHRP_ImpedanceControllerService_getObjectTurnaroundDetectorParam.srv  OpenHRP_SequencePlayerService_setBasePos.srv                                                OpenHRP_TorqueControllerService_stopMultipleTorqueControls.srv
OpenHRP_ImpedanceControllerService_setImpedanceControllerParam.srv       OpenHRP_SequencePlayerService_setBaseRpy.srv                                                OpenHRP_TorqueControllerService_stopTorqueControl.srv
OpenHRP_ImpedanceControllerService_setObjectTurnaroundDetectorParam.srv  OpenHRP_SequencePlayerService_setInitialState.srv                                           OpenHRP_TorqueFilterService_dummy.srv
OpenHRP_ImpedanceControllerService_startImpedanceController.srv          OpenHRP_SequencePlayerService_setInterpolationMode.srv                                      OpenHRP_VirtualForceSensorService_removeVirtualForceSensorOffset.srv
OpenHRP_ImpedanceControllerService_startImpedanceControllerNoWait.srv    OpenHRP_SequencePlayerService_setJointAngle.srv                                             OpenHRP_WavPlayerService_playWav.srv
OpenHRP_ImpedanceControllerService_startObjectTurnaroundDetection.srv    OpenHRP_SequencePlayerService_setJointAngles.srv                                            OpenHRP_WavPlayerService_playWavNoWait.srv
OpenHRP_ImpedanceControllerService_stopImpedanceController.srv           OpenHRP_SequencePlayerService_setJointAnglesOfGroup.srv                                     SetSensorTransformation.srv
OpenHRP_ImpedanceControllerService_stopImpedanceControllerNoWait.srv     OpenHRP_SequencePlayerService_setJointAnglesSequence.srv

となっていて古いのが残っていますが問題になっていなさそうです。 となると、git cleanした時に他に消えたファイルのほうが問題になっていたような気がしてきました。

[mmurooka]

これと全く同じ問題が，hrp2017vのPCのhimでも起きていて，git cleanして解決していました．