search

start-jsk / rtmros_common

OpenRTM - ROS interoperability packages
http://wiki.ros.org/rtmros_common
12 stars 52 forks source link

Run real robot from docker container #1135

Open triwahyuu opened 6 months ago

triwahyuu commented 6 months ago

I am currently having a difficulty when trying to run Nextage Open robot from inside a docker container.
I am using a version of docker image built from turlucode/ros-docker-gui with the dependencies for the nextage open installed using ROS Kinetic.

Here is the command to run the docker container:

xhost +
docker run --rm -it --privileged --net=host --ipc=host --pid=host \
--cap-add=SYS_PTRACE \
--security-opt seccomp=unconfined \
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY \
-v $HOME/.Xauthority:/root/.Xauthority -e XAUTHORITY=/root/.Xauthority \
-v /home/tri/nextage-open/catkin_ws:/root/catkin_ws \
-e ROS_IP=127.0.0.1 \
-v /dev:/dev \
turlucode/ros-kinetic:cpu

Here is the log I got when running the command to launch the real robot:

root ➜ ~/catkin_ws $ rtmlaunch nextagea_ros_bridge nextagea_ros_bridge_real.launch
[rtmlaunch] default corbaport:= 15005 will be used
[rtmlaunch] Start omniNames at port 15005 

Tue May 14 06:35:24 2024:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e30000001000000000000007400000001010200100000003139322e3136382e3132382e313030009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000002c064366010063d3
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /root/.ros/log/2559d5e2-11bc-11ef-aae0-98bb1e1c2d52/roslaunch-aislaisl-blade-15-base-model-early-2020-rz09-0328-25551.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://127.0.0.1:46093/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /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
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /rtmnameserver_host: nextage
 * /rtmnameserver_port: 15005
 * /rtmnameserver_robotname: RobotHardware0

NODES
  /
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hironx_ros_bridge/hironx.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

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 rtactivate
auto-starting new master
process[master]: started with pid [25563]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to 2559d5e2-11bc-11ef-aae0-98bb1e1c2d52
process[rosout-1]: started with pid [25589]
started core service [/rosout]
process[hrpsys_py-2]: started with pid [25606]
process[HrpsysSeqStateROSBridge-3]: started with pid [25609]
process[HrpsysJointTrajectoryBridge-4]: started with pid [25626]
process[hrpsys_state_publisher-5]: started with pid [25634]
process[hrpsys_ros_diagnostics-6]: started with pid [25642]
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
configuration ORB with nextage:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
process[diagnostic_aggregator-7]: started with pid [25657]
process[hrpsys_profile-8]: started with pid [25665]
process[sensor_ros_bridge_connect-9]: started with pid [25746]
[sensor_ros_bridge_connect.py]  start
configuration ORB with nextage:15005
[sensor_ros_bridge_connect.py]  initSensorRosBridgeConnection
[sensor_ros_bridge_connect.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
process[rtmlaunch_hrpsys_ros_bridge-10]: started with pid [25773]
process[SequencePlayerServiceROSBridge-11]: started with pid [25797]
process[DataLoggerServiceROSBridge-12]: started with pid [25809]
process[ForwardKinematicsServiceROSBridge-13]: started with pid [25823]
[rtmlaunch] starting...  /root/catkin_ws/src/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 
[rtmlaunch] SIMULATOR_NAME RobotHardware0 
process[StateHolderServiceROSBridge-14]: started with pid [25835]
process[RobotHardwareServiceROSBridge-15]: started with pid [25841]
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f487a3c04d0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7f487a3c04d0> isActive? = False 
[hrpsys.py] simulation_mode : False
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7f4877d12638>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7f4877d12440>
[sensor_ros_bridge_connect.py] wait for RTCmanager : nextage
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7f3e363a62d8> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7f3e363a62d8> isActive? = False 
[sensor_ros_bridge_connect.py] simulation_mode : False
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None

It seems that it was stuck trying to get the RTC from the robot.
I have tested the robot to run on the original development environment, and it works normally.
And I can confirm that the robot can be pinged from inside the docker container.

Am I missing something on the docker run command? or is it not possible to do?