Closed k-okada closed 10 years ago
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 24, 2013 03:32:10
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
とあるので，nameserverがあがっていなさそうです．
rosrun openrtm rtm-naming-restart として，nameserverをリスタートしてから，もう一度ためせるでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 18:06:28
山形大学の秋葉直樹です． 岡田先生，回答有難う御座います．
rosrun openrtm rtm-naming-restart を行ったところ，
akiba@yken-ROS:~$ rosrun openrtm rtm-naming-restart (一部のプロセスが識別されますが, 所有していないプロセスの情報は 表示されません。それら全てを見るにはルートになる必要があります.) A possible process that is using 2809 port: No process using port number on the system. Starting omniORB omniNames: yken-ROS:2809
Thu Jul 25 09:49:25 2013:
Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003133332e32342e38372e34370000f90a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001576f051010013e6 Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed.
となり，再スタートしているようですが，
その後， roslaunch hrpsys_ros_bridge_tutorials hironx.launch を行うと，
まだ，同じような状況です． 画面出力を下に載せました． また， omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 は消えていません．
rosrun openrtm rtm-naming-restart を行った時に， Starting omniORB omniNames: yken-ROS:2809 とかいてあるので， 2809と2810で数が異なっているということが原因ではないかとも思うのですが． どのように解決すれば良いのでしょうか．
宜しくお願いいたします．
akiba@yken-ROS:~$ roslaunch hrpsys_ros_bridge_tutorials hironx.launch ... logging to /home/akiba/.ros/log/680eb60e-f4c3-11e2-8725-5404a60a5af7/roslaunch-yken-ROS-5265.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://yken-ROS:58462/
PARAMETERS
NODES / AutoBalancerServiceROSBridge (hrpsys/AutoBalancerServiceROSBridgeComp) CollisionDetectorServiceROSBridge (hrpsys/CollisionDetectorServiceROSBridgeComp) DataLoggerServiceROSBridge (hrpsys/DataLoggerServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) ImageSensorROSBridge (hrpsys_ros_bridge/ImageSensorROSBridge) ImpedanceControllerServiceROSBridge (hrpsys/ImpedanceControllerServiceROSBridgeComp) RobotHardwareServiceROSBridge (hrpsys/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys/SequencePlayerServiceROSBridgeComp) SoftErrorLimiterServiceROSBridge (hrpsys/SoftErrorLimiterServiceROSBridgeComp) StabilizerServiceROSBridge (hrpsys/StabilizerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys/StateHolderServiceROSBridgeComp) hironx_rviz (rviz/rviz) hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) rtmlaunch_hrpsys_ros_bridge (openrtm/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
WARNING: unrecognized tag moge WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag 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 rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [5285] ready process[hrpsys-2]: started with pid [5290] process[hrpsys_py-3]: started with pid [5303] process[HrpsysSeqStateROSBridge-4]: started with pid [5304] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[HrpsysJointTrajectoryBridge-5]: started with pid [5315] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 loading file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae process[ImageSensorROSBridge-6]: started with pid [5324] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: gener...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 18:06:28
...ate normals from vertices The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint nodeWAIST Segment node BODY The model was successfully loaded ! process[DataLoggerServiceROSBridge-7]: started with pid [5334] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[ImpedanceControllerServiceROSBridge-8]: started with pid [5342] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[SequencePlayerServiceROSBridge-9]: started with pid [5350] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[CollisionDetectorServiceROSBridge-10]: started with pid [5358] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None process[AutoBalancerServiceROSBridge-11]: started with pid [5367] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[StateHolderServiceROSBridge-12]: started with pid [5375] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[RobotHardwareServiceROSBridge-13]: started with pid [5383] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[SoftErrorLimiterServiceROSBridge-14]: started with pid [5391] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[StabilizerServiceROSBridge-15]: started with pid [5399] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[hrpsys_state_publisher-16]: started with pid [5407] process[sensor_ros_bridge_connect-17]: started with pid [5422] process[rtmlaunch_hrpsys_ros_bridge-18]: started with pid [5424] [sensor_ros_bridge_connect.py] start exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None process[hironx_rviz-19]: started with pid [5428] [ERROR] [1374713395.574214965]: Skipping XML Document "/home/akiba/ros/fuerte/bosch-ros-pkg/stacks/bosch_shared_autonomy/bosch_object_segmentation_gui/lib/rviz_plugin.yaml" which had no Root Element. This likely means the XML is malformed or missing. exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None [ERROR] [1374713396.381776536]: Skipping XML Document "/home/akiba/ros/fuerte/bosch-ros-pkg/stacks/bosch_shared_autonomy/bosch_object_segmentation_gui/lib/rviz_plugin.yaml" which had no Root Element. This likely means the XML is malformed or missing. exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [hrpsys.py] wait for RTCmanager : None exception in findRTCmanager(yken-ROS) [sensor_ros_bridge_connect.py] wait for RTCmanager : None e...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 18:06:28
...xception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[sensor_ros_bridge_connect.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[sensor_ros_bridge_connect.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[sensor_ros_bridge_connect.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[sensor_ros_bridge_connect.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[sensor_ros_bridge_connect.py] wait for RTCmanager : None
exception in findRTCmanager(yken-ROS)
[hrpsys.py] wait for RTCmanager : None
^C[hironx_rviz-19] killing on exit
[rtmlaunch_hrpsys_ros_bridge-18] killing on exit
[sensor_ros_bridge_connect-17] killing on exit
[hrpsys_state_publisher-16] killing on exit
[StabilizerServiceROSBridge-15] killing on exit
[SoftErrorLimiterServiceROSBridge-14] killing on exit
[RobotHardwareServiceROSBridge-13] killing on exit
[StateHolderServiceROSBridge-12] killing on exit
[AutoBalancerServiceROSBridge-11] killing on exit
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/scripts/rtmlaunch.py", line 155, in
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 24, 2013 18:23:29
ポート番号についてはhrpsys/launch/hrpsys.launchの
で書かれていて， roslaunch --args DataLoggerServiceROSBridge hrpsys_ros_bridge_tutorials hironx.launch として実際にどのようなコマンドが実行されているか確認できます
それでダメなら，以下のMLで質問があった
はどうでしょうか？ さらに，だめなら， https://code.google.com/p/rtm-ros-robotics/wiki/hironx_ros_bridge の手順は試されましたでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 20:45:52
山形大学の秋葉です．
$ roslaunch --args DataLoggerServiceROSBridge hrpsys_ros_bridge_tutorials hironx.launch を行ったところ，次のような画面出力が出ました．
LANG=C SIMULATOR_NAME=HiroNX(Robot)0 ORBgiopMaxMsgSize=2147483648 RTCTREE_NAMESERVERS=localhost /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/bin/DataLoggerServiceROSBridgeComp -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log __name:=DataLoggerServiceROSBridge
この時点では2809になっています．
また，
は現時点で設定済みです．
また， $ roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch を行うと，下記のような画面出力になります． 加えて，「hrpsys viewer」が表示され，
$ roslaunch hrpsys_ros_bridge_tutorials hironx_startup.launch と似たような状態になりました．
しかし，これにも omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 が表示されています．
宜しくお願いいたします．
akiba@yken-ROS:~$ roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch ... logging to /home/akiba/.ros/log/417bf9a6-f4d8-11e2-97ea-5404a60a5af7/roslaunch-yken-ROS-6079.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://yken-ROS:43381/
PARAMETERS
NODES / DataLoggerServiceROSBridge (hrpsys/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) SequencePlayerServiceROSBridge (hrpsys/SequencePlayerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys/StateHolderServiceROSBridgeComp) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hrpsys (hrpsys/hrpsys-simulator) 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) modelloader (openhrp3/openhrp-model-loader) rtmlaunch_hrpsys_ros_bridge (openrtm/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 rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [6099] ready process[hrpsys-2]: started with pid [6103] process[hrpsys_py-3]: started with pid [6104] process[HrpsysSeqStateROSBridge-4]: started with pid [6116] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[HrpsysJointTrajectoryBridge-5]: started with pid [6127] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[hrpsys_state_publisher-6]: started with pid [6136] process[hrpsys_ros_diagnostics-7]: started with pid [6150] process[hrpsys_profile-8]: started with pid [6151] process[diagnostic_aggregator-9]: started with pid [6152] loading file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae process[sensor_ros_bridge_connect-10]: started with pid [6171] Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint nodeWAIST Segment node BODY The model was successfully loaded ! process[rtmlaunch_hrpsys_ros_bridge-11]: started with pid...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 20:45:52
... [6242]
[sensor_ros_bridge_connect.py] start
[rtmlaunch] starting... /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch_hrpsys_ros_bridge-11] process has finished cleanly
log file: /home/akiba/.ros/log/417bf9a6-f4d8-11e2-97ea-5404a60a5af7/rtmlaunch_hrpsys_rosbridge-11.log
process[SequencePlayerServiceROSBridge-12]: started with pid [6272]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[DataLoggerServiceROSBridge-13]: started with pid [6280]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
[hrpsys.py] wait for RTCmanager : yken-ROS
process[ForwardKinematicsServiceROSBridge-14]: started with pid [6289]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[StateHolderServiceROSBridge-15]: started with pid [6297]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
[sensor_ros_bridge_connect.py] wait for RTCmanager : yken-ROS
[hrpsys.py] wait for HiroNX(Robot)0 : <rtm.RTcomponent instance at 0x2dc6d40> (timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x2dc6d40>
[hrpsys.py] simulation_mode : True
[hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae
cache found for file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae
[hrpsys.py] creating components
cache found for file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[hrpsys.py] create Comp -> SequencePlayer : <rtm.RTcomponent instance at 0x2dc6fc8>
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x2dd48c0>
cache found for file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae
[hrpsys.py] create Comp -> StateHolder : <rtm.RTcomponent instance at 0x2dc9488>
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x2dcdf80>
cache found for file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
Warning: Model HiroNX has empty joint ID in the valid IDs.
[hrpsys.py] create Comp -> ForwardKinematics : <rtm.RTcomponent instance at 0x2dc9cb0>
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x2dd3950>
[WARNING] sc: needs servo.devname property
[WARNING] sc: running in dummy mode
[hrpsys.py] create Comp -> ServoController : <rtm.RTcomponent instance at 0x2dc9e18>
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x2dcf908>
[hrpsys.py] create Comp -> DataLogger : <rtm.RTcomponent instance at 0x2dc9908>
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x2dcf518>
[hrpsys.py] connecting components
[hrpsys.py] activating components
[hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q
[hrpsys.py] setupLogger : type = TimedDoubleSeq , name = tau
[hrpsys.py] sensor names for DataLogger
[hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef
[hrpsys.py] setup logger done
[hrpsys.py] initialized successfully
[hrpsys_py-3] process has finished cleanly
log file: /home/akiba/.ros/log/417bf9a6-f4d8-11e2-97ea-5404a60a5af7/hrpsyspy-3.log
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <rtm.RTcomponent instance at 0x2eb9878> (timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x2eb9878>
[sensor_ros_bridge_connect.py] simulation_mode : True
[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
^C[StateHolderServiceROSBridge-15] killing on exit
[ForwardKinematicsServiceROSBridge-14] killing on exit
[DataLoggerServiceROSBridge-13] killing on exit
terminate called after throwing an instance of 'CosNaming::NamingContext::NotFound'
terminate called after throwing an instance of 'CosNaming::NamingContext::NotFound'
[SequencePlayerServiceROSBridge-12] killing on exit
[sensor_ros_bridge_connect-10] killing on exit
[diagnostic_aggregator-9] killing on exit
[hrpsys_profile-8] killing on exit
[hrpsys_ros_diagnostics-7] killing on exit
[hrpsys_state_publisher-6] killing on exit
[HrpsysJointTrajectoryBridge-5] killing on exit
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 44, in
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 24, 2013 20:51:58
おかしいですね．プログラムの実行中に ps -auxwww | grep 2810 とすると何がでてくるでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 22:06:52
山形大学の秋葉です．
akiba@yken-ROS:~$ ps -auxwww | grep 2810 Warning: bad ps syntax, perhaps a bogus '-'? See http://procps.sf.net/faq.html akiba 4173 0.0 0.0 14564 932 pts/4 S+ 14:03 0:00 grep --color=auto 2810
となりました． 宜しくお願いいたします．
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 24, 2013 22:23:51
山形大学の秋葉です． 説明不足な点があったので補足させて頂きます． まずはじめに
$ roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
を立ち上げたままにし， $ ps -auxwww | grep 2810 を行ったところ 先ほどの
Warning: bad ps syntax, perhaps a bogus '-'? See http://procps.sf.net/faq.html akiba 4173 0.0 0.0 14564 932 pts/4 S+ 14:03 0:00 grep --color=auto 2810
が表示されました． COMMANDのところを見ると grep・・・ なので， あまり関係ないように見えるのですが，いかがでしょうか．
宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 24, 2013 22:25:34
おかしいですね． roslaunch hrpsys_tutorials samplerobot.launch roslaunch hrpsys_tutorials hrp4c.launch roslaunch hrpsys_tutorials pa10.launch などは動くでしょうか？
あと
source rospack find openrtm/scripts/rtshell-setup.sh
としてから，roslaunchするというのはどうでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 06:26:04
山形大学の秋葉です．
source rospack find openrtm/scripts/rtshell-setup.sh
をしてから
roslaunch hrpsys_tutorials samplerobot.launch
roslaunch hrpsys_tutorials hrp4c.launch
roslaunch hrpsys_tutorials pa10.launch
をしたときの画面出力を下に載せます．
動作としては (1) roslaunch hrpsys_tutorials samplerobot.launch はウィンドウなど何も出ない (2) roslaunch hrpsys_tutorials hrp4c.launch はhrpsys viewerのウィンドウが表示されるが，青い床だけ表示されている (3) roslaunch hrpsys_tutorials pa10.launch はPA10のモデルが表示されている
上のようになりました． ものによってモデルが出たり，出なかったりするのですが， どこに原因があるのでしょうか
宜しくお願いいたします．
######################################################################### roslaunch hrpsys_tutorials samplerobot.launch の画面出力 #########################################################################
akiba@yken-ROS:~$ roslaunch hrpsys_tutorials samplerobot.launch ... logging to /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/roslaunch-yken-ROS-10978.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://yken-ROS:41705/
PARAMETERS
NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) modelloader (openhrp3/openhrp-model-loader)
WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[modelloader-1]: started with pid [10998]
ready
process[hrpsys-2]: started with pid [11003]
I/O warning : failed to load external entity "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.xml"
unable to parse file(/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.xml)
failed to parse /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.xml
[hrpsys-2] process has died [pid 11003, exit code 1, cmd /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/build/hrpsys-base/bin/hrpsys-simulator /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.xml -o manager.is_master:YES -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.ForwardKinematics.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.ImpedanceController.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.AutoBalancer.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.StateHolder.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.TorqueFilter.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.VirtualForceSensor.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.AbsoluteForceSensor.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.KalmanFilter.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.Stabilizer.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.CollisionDetector.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.SoftErrorLimiter.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf -o example.RobotHardware.config_file:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_tutorials/models/SampleRobot.conf name:=hrpsys log:=/home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/hrpsys-2.log].
log file: /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/hrpsys-2*.log
process[hrpsys_py-3]: started with pid [11004]
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
Manager not found
[hrpsys.py] wait for RTCmanager : yken-ROS
^C[hrpsys_py-3] killing on exit
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/scripts/hrpsys.py", line 459, in
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 06:28:00
山形大学の秋葉です． 先ほどの画面出力が一回では載せられなかったので， 分割して投稿いたします． 出力が長くなってしまっているのですが， 宜しくお願いいたします．
######################################################################### roslaunch hrpsys_tutorials hrp4c.launch の画面出力 ######################################################################### akiba@yken-ROS:~$ roslaunch hrpsys_tutorials hrp4c.launch ... logging to /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/roslaunch-yken-ROS-11049.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://yken-ROS:39733/
PARAMETERS
NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) modelloader (openhrp3/openhrp-model-loader)
WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[modelloader-1]: started with pid [11069]
ready
process[hrpsys-2]: started with pid [11073]
process[hrpsys_py-3]: started with pid [11086]
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
Retrying to load the file as a standard VRML file
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
loading failed.
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
omniORB: ERROR -- A servant has been deleted that is still activated.
id: root<7> (active)
loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/project/../model/longfloor.wrl
Humanoid node
Joint nodeWAIST
Segment node BODY
The model was successfully loaded !
Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
can't find a body named HRP4Cmain or HRP4C(Robot)0
factory name for HRP4C(Robot)0 is not defined
can't find a port named HRP4C(Robot)0.qRef
[hrpsys.py] wait for RTCmanager : yken-ROS
[hrpsys.py] wait for HRP4C(Robot)0 : <rtm.RTcomponent instance at 0x19f7758> (timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x19f7758>
[hrpsys.py] simulation_mode : True
[hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl
loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
Retrying to load the file as a standard VRML file
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
loading failed.
/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl cannot be found.
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/scripts/hrpsys.py", line 459, in
akiba@yken-ROS:~$ roslaunch hrpsys_tutorials pa10.launch ... logging to /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/roslaunch-yken-ROS-11109.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://yken-ROS:58222/
PARAMETERS
NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) modelloader (openhrp3/openhrp-model-loader)
WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [11129] ready process[hrpsys-2]: started with pid [11133] process[hrpsys_py-3]: started with pid [11145] [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/project/../model/PA10/pa10.main.wrl Humanoid node Joint nodeBASE Segment node BASE_LINK Joint nodeJ1 Segment node J1_LINK Joint nodeJ2 Segment node J2_LINK Joint nodeJ3 Segment node J3_LINK Joint nodeJ4 Segment node J4_LINK Joint nodeJ5 Segment node J5_LINK Joint nodeJ6 Segment node J6_LINK Joint nodeJ7 Segment node J7_LINK Joint nodeHAND_L Segment node HAND_L_LINK Joint nodeHAND_R Segment node HAND_R_LINK The model was ...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 06:28:00
...successfully loaded ! Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [hrpsys.py] wait for RTCmanager : yken-ROS [hrpsys.py] wait for PA10Controller(Robot)0 : <rtm.RTcomponent instance at 0x2eb5758> (timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x2eb5758> [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl Humanoid node Joint nodeBASE Segment node BASE_LINK Joint nodeJ1 Segment node J1_LINK Joint nodeJ2 Segment node J2_LINK Joint nodeJ3 Segment node J3_LINK Joint nodeJ4 Segment node J4_LINK Joint nodeJ5 Segment node J5_LINK Joint nodeJ6 Segment node J6_LINK Joint nodeJ7 Segment node J7_LINK Joint nodeHAND_L Segment node HAND_L_LINK Joint nodeHAND_R Segment node HAND_R_LINK The model was successfully loaded ! [hrpsys.py] creating components cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> SequencePlayer : <rtm.RTcomponent instance at 0x2eb5bd8> [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x2ec38c0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> StateHolder : <rtm.RTcomponent instance at 0x2e6add0> [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x2ecdbd8> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> ForwardKinematics : <rtm.RTcomponent instance at 0x2e54128> [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x2ec30e0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl tf : gravity compensation: 0 tf : torque_offset is not set filter dim: 0 tf param size: 0 [hrpsys.py] create Comp -> TorqueFilter : <rtm.RTcomponent instance at 0x2d6d320> kf: onInitialize() [hrpsys.py] create Comp -> KalmanFilter : <rtm.RTcomponent instance at 0x2eb0440> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> VirtualForceSensor : <rtm.RTcomponent instance at 0x2e76cb0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> AbsoluteForceSensor : <rtm.RTcomponent instance at 0x2e76f80> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> ImpedanceController : <rtm.RTcomponent instance at 0x2e76f38> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl abc limb[lfsensor] abc limb[rfsensor] [hrpsys.py] create Comp -> AutoBalancer : <rtm.RTcomponent instance at 0x2ebfdd0> st: onInitialize() cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> Stabilizer : <rtm.RTcomponent instance at 0x2ebff80> [hrpsys.py] create Comp -> CollisionDetector : <rtm.RTcomponent instance at 0x2ec65a8> [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x2ec3dd0> ;; ;; Could not open /dev/console for writing. ;; open: Permission denied cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> SoftErrorLimiter : <rtm.RTcomponent instance at 0x2ebf488> [hrpsys.py] create Comp -> DataLogger : <rtm.RTcomponent instance at 0x2ec9518> [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x2ec3878> [hrpsys.py] connecting components el.q and HGcontroller0.qIn are already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected el.q and HGcontroller0.qIn are already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected el.q and HGcontroller0.qIn are already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected [hrpsys.py] activating components kf: onActivated(1000) cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl prop[collision_pair] ->BASE:J4 BASE:J5 BASE:J6 BASE:J7 BASE:HAND_L BASE:HAND_R J1:J5 J1:J6 J1:J7 J2:J6 check collisions between BASE and J4 check collisions between BASE and J5 check collisions between BASE and J6 check collisions between BASE and J7 check collisions between BASE and HAND_L check collisions between BASE and HAND_R check collisions between J1 and J5 check collisions between J1 and J6 check collisions between J1 and J7 check collisions between J2 and J6 [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : type = TimedOrientation3D , name = rpy [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef [hrpsys.py] setup logger done [hrpsys.py] initialized successfully [hrpsys_py-3] process has finished cleanly log file: /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/hrpsys_py-3*.log ^C[hrpsys-2] killing on exit [modelloader-1] killing on exit terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' shutting down processing monitor... ... shutting down processing monitor complete done
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 06:29:32
山形大学の秋葉です． 残りの画面出力文を載せます．
######################################################################### roslaunch hrpsys_tutorials pa10.launch の画面出力 #########################################################################
akiba@yken-ROS:~$ roslaunch hrpsys_tutorials pa10.launch ... logging to /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/roslaunch-yken-ROS-11109.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://yken-ROS:58222/
PARAMETERS
NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) modelloader (openhrp3/openhrp-model-loader)
WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [11129] ready process[hrpsys-2]: started with pid [11133] process[hrpsys_py-3]: started with pid [11145] [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/project/../model/PA10/pa10.main.wrl Humanoid node Joint nodeBASE Segment node BASE_LINK Joint nodeJ1 Segment node J1_LINK Joint nodeJ2 Segment node J2_LINK Joint nodeJ3 Segment node J3_LINK Joint nodeJ4 Segment node J4_LINK Joint nodeJ5 Segment node J5_LINK Joint nodeJ6 Segment node J6_LINK Joint nodeJ7 Segment node J7_LINK Joint nodeHAND_L Segment node HAND_L_LINK Joint nodeHAND_R Segment node HAND_R_LINK The model was successfully loaded ! Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [hrpsys.py] wait for RTCmanager : yken-ROS [hrpsys.py] wait for PA10Controller(Robot)0 : <rtm.RTcomponent instance at 0x2eb5758> (timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x2eb5758> [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl Humanoid node Joint nodeBASE Segment node BASE_LINK Joint nodeJ1 Segment node J1_LINK Joint nodeJ2 Segment node J2_LINK Joint nodeJ3 Segment node J3_LINK Joint nodeJ4 Segment node J4_LINK Joint nodeJ5 Segment node J5_LINK Joint nodeJ6 Segment node J6_LINK Joint nodeJ7 Segment node J7_LINK Joint nodeHAND_L Segment node HAND_L_LINK Joint nodeHAND_R Segment node HAND_R_LINK The model was successfully loaded ! [hrpsys.py] creating components cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> SequencePlayer : <rtm.RTcomponent instance at 0x2eb5bd8> [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x2ec38c0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> StateHolder : <rtm.RTcomponent instance at 0x2e6add0> [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x2ecdbd8> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> ForwardKinematics : <rtm.RTcomponent instance at 0x2e54128> [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x2ec30e0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl tf : gravity compensation: 0 tf : torque_offset is not set filter dim: 0 tf param size: 0 [hrpsys.py] create Comp -> TorqueFilter : <rtm.RTcomponent instance at 0x2d6d320> kf: onInitialize() [hrpsys.py] create Comp -> KalmanFilter : <rtm.RTcomponent instance at 0x2eb0440> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> VirtualForceSensor : <rtm.RTcomponent instance at 0x2e76cb0> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> AbsoluteForceSensor : <rtm.RTcomponent instance at 0x2e76f80> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> ImpedanceController : <rtm.RTcomponent instance at 0x2e76f38> cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl abc limb[lfsensor] abc limb[rfsensor] [hrpsys.py] create Comp -> AutoBalancer : <rtm.RTcomponent instance at 0x2ebfdd0> st: onInitialize() cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> Stabilizer : <rtm.RTcomponent instance at 0x2ebff80> [hrpsys.py] create Comp -> CollisionDetector : <rtm.RTcomponent instance at 0x2ec65a8> [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x2ec3dd0> ;; ;; Could not open /dev/console for writing. ;; open: Permission denied cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> SoftErrorLimiter : <rtm.RTcomponent instance at 0x2ebf488> [hrpsys.py] create Comp -> DataLogger : <rtm.RTcomponent instance at 0x2ec9518> [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x2ec3878> [hrpsys.py] connecting components el.q and HGcontroller0.qIn are already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected el.q and HGcontroller0.qIn are already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected el.q and HGcontroller0.qIn ar...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 06:29:32
...e already connected HGcontroller0.qOut and PA10Controller(Robot)0.qRef are already connected [hrpsys.py] activating components kf: onActivated(1000) cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl prop[collision_pair] ->BASE:J4 BASE:J5 BASE:J6 BASE:J7 BASE:HAND_L BASE:HAND_R J1:J5 J1:J6 J1:J7 J2:J6 check collisions between BASE and J4 check collisions between BASE and J5 check collisions between BASE and J6 check collisions between BASE and J7 check collisions between BASE and HAND_L check collisions between BASE and HAND_R check collisions between J1 and J5 check collisions between J1 and J6 check collisions between J1 and J7 check collisions between J2 and J6 [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : type = TimedOrientation3D , name = rpy [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef [hrpsys.py] setup logger done [hrpsys.py] initialized successfully [hrpsys_py-3] process has finished cleanly log file: /home/akiba/.ros/log/b02d1e00-f520-11e2-b8ff-5404a60a5af7/hrpsys_py-3*.log ^C[hrpsys-2] killing on exit [modelloader-1] killing on exit terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' shutting down processing monitor... ... shutting down processing monitor complete done
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 25, 2013 19:05:30
(1) OpenRTMを公式HPからインストール済みであること． 下記サイトからPPAでOpenRTM-1.0系をインストール済みです． Ubuntu/Debianへのインストール | OpenRTM-aist http://www.openrtm.org/openrtm/ja/node/1001#toc2 roscd openrtm のところで，ユーザディレクトリ以下にソースをインストールするようにしていますが， もしかしたら，debで入っている方を見てるのかもしれません．一度，それをremove して試していただけますでしょうか？
また，環境変数に2810とかかれているものがないか env | grep 2810 としてご確認いただけますでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 20:00:28
山形大学の秋葉です．
env | grep 2810 をしたところ，何も表示されませんでした．
また，PPAで入れている方のOpenRTMをremove しましたが，
roslaunch hrpsys_ros_bridge_tutorials hironx.launch を実行すると， omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 が表示され，出力には変わりありませんでした．
宜しくお願いいたします．
k-okada
commented
10 years ago From nakaokat on July 25, 2013 20:06:31
Address in use? ということなので、既に何らかのプログラムが2810を使っています。
2810を使用しているプロセスが手掛かりになるかもしれませんので、 sudo lsof -i:2810 で調べてみてください。
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 25, 2013 21:54:05
山形大学の秋葉です．
sudo lsof -i:2810 は何も表示されませんでした．
また，関係があるかどうかわかりませんが， sudo netstat -anp | grep 2810 も何も表示されません．
加えて，2810ではなく，2809について同様のことを行ったのですが，
akiba@yken-ROS:~$ ps auxww | grep 2809 akiba 4016 0.0 0.0 1315040 3476 pts/2 Sl+ 13:42 0:00 /usr/bin/omniNames -start 2809 -logdir /home/akiba akiba 4689 0.0 0.0 14564 936 pts/3 S+ 13:49 0:00 grep --color=auto 2809
akiba@yken-ROS:~$ sudo lsof -i:2809 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME omniNames 4016 akiba 9u IPv6 18255 0t0 TCP *:2809 (LISTEN)
akiba@yken-ROS:~$ sudo netstat -anp | grep 2809 tcp6 0 0 :::2809 :::* LISTEN 4016/omniNames
と出てきたのですが，2810もこのようにならなければいけないという事でしょうか．
2809の方もlsofでIPv6と出ているのが気になったのですが， 確認した限りではIPv6は無効化しています． (ifconfigで「inet6~」がないか確認， また，cat /proc/net/if_inet6 で何も表示されないことを確認済み)
何度も申し訳ありませんが，宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 26, 2013 18:52:38
すいません．もうひとつ， roslaunch hrpsys_ros_bridge_tutorials hironx.launch をした後， sudo lsof -i:2810 とすると，どういう表示になりますでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 29, 2013 20:46:48
山形大学の秋葉です． 返事が遅くなってしまい，申し訳ありません．
roslaunch hrpsys_ros_bridge_tutorials hironx.launch を実行したあとに sudo lsof -i:2810 をした時の出力は下記のようになりました．
何度も申し訳ありませんが， 宜しくお願いいたします．
akiba@yken-ROS:~$ sudo lsof -i:2810 [sudo] password for akiba: COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME hrpsys-si 9575 akiba 11u IPv6 43666 0t0 TCP *:2810 (LISTEN) hrpsys-si 9575 akiba 28u IPv6 41288 0t0 TCP yken-ROS:2810->localhost:51650 (ESTABLISHED) hrpsys-si 9575 akiba 30u IPv6 41290 0t0 TCP yken-ROS:2810->localhost:51652 (ESTABLISHED) hrpsys-si 9575 akiba 31u IPv6 42349 0t0 TCP yken-ROS.local:2810->yken-ROS.local:37139 (ESTABLISHED) hrpsys-si 9575 akiba 32u IPv6 42354 0t0 TCP yken-ROS.local:2810->yken-ROS.local:37146 (ESTABLISHED) python 9597 akiba 3u IPv4 43812 0t0 TCP localhost:51650->yken-ROS:2810 (ESTABLISHED) python 9597 akiba 14u IPv4 44220 0t0 TCP yken-ROS.local:37139->yken-ROS.local:2810 (ESTABLISHED) sensor_ro 9613 akiba 3u IPv4 44208 0t0 TCP localhost:51652->yken-ROS:2810 (ESTABLISHED) sensor_ro 9613 akiba 4u IPv4 44226 0t0 TCP yken-ROS.local:37146->yken-ROS.local:2810 (ESTABLISHED)
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 29, 2013 21:28:41
同じものが２つづつ上がっているように見えますね． お手数をおかけして申し訳ないのですが，ディレクトリ構成を大幅に整理したので， https://code.google.com/p/rtm-ros-robotics/wiki/rtm_ros_common_201307_migration?ts=1375158436&updated=rtm_ros_common_201307_migration#新しいソースに移行したい人 で新しくcheckoutしなおして，もう一度ためしていただけますでしょうか？ その場合， https://code.google.com/p/rtm-ros-robotics/wiki/hironx_ros_bridge を参考に， roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch としていただけると助かります．
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 02:46:13
山形大学の秋葉です．
サイトを参考に roscd rtmros_common/../../ mv rtm-ros-robotics/rtmros_common rtm-ros-robotics/rtmros_common.bak rosws merge http://rtm-ros-robotics.googlecode.com/svn/tags/latest/agentsystem_ros_tutorials/rtm-ros-robotics.rosinstall rosws update rosmake hrpsys_ros_bridge として更新した後，
roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch をしたまま行うと，
akiba@yken-ROS:~$ sudo lsof -i:2810 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME hrpsys-si 5950 akiba 11u IPv6 35590 0t0 TCP *:2810 (LISTEN) hrpsys-si 5950 akiba 28u IPv6 38307 0t0 TCP yken-ROS:2810->localhost:59327 (ESTABLISHED) hrpsys-si 5950 akiba 29u IPv6 36839 0t0 TCP yken-ROS.local:2810->yken-ROS.local:45294 (ESTABLISHED) hrpsys-si 5950 akiba 30u IPv6 40449 0t0 TCP yken-ROS.local:2810->yken-ROS.local:45310 (ESTABLISHED) hrpsys-si 5950 akiba 31u IPv6 42563 0t0 TCP yken-ROS:2810->localhost:59363 (ESTABLISHED) python 6000 akiba 3u IPv4 39341 0t0 TCP localhost:59327->yken-ROS:2810 (ESTABLISHED) python 6000 akiba 12u IPv4 37639 0t0 TCP yken-ROS.local:45294->yken-ROS.local:2810 (ESTABLISHED) sensor_ro 6078 akiba 3u IPv4 40446 0t0 TCP localhost:59363->yken-ROS:2810 (ESTABLISHED) sensor_ro 6078 akiba 4u IPv4 36846 0t0 TCP yken-ROS.local:45310->yken-ROS.local:2810 (ESTABLISHED)
のようになりました． また，念の為に2809についても行いました． akiba@yken-ROS:~$ sudo lsof -i:2809 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME omniNames 5912 akiba 9u IPv6 38221 0t0 TCP *:2809 (LISTEN) omniNames 5912 akiba 11u IPv6 39284 0t0 TCP localhost:2809->localhost:57309 (ESTABLISHED) omniNames 5912 akiba 12u IPv6 42392 0t0 TCP localhost:2809->localhost:57310 (ESTABLISHED) omniNames 5912 akiba 13u IPv6 38301 0t0 TCP yken-ROS.local:2809->yken-ROS.local:53431 (ESTABLISHED) omniNames 5912 akiba 14u IPv6 37610 0t0 TCP localhost:2809->localhost:57313 (ESTABLISHED) omniNames 5912 akiba 16u IPv6 40392 0t0 TCP localhost:2809->localhost:57315 (ESTABLISHED) omniNames 5912 akiba 17u IPv6 42529 0t0 TCP localhost:2809->localhost:57392 (ESTABLISHED) omniNames 5912 akiba 18u IPv6 42530 0t0 TCP localhost:2809->localhost:57395 (ESTABLISHED) omniNames 5912 akiba 19u IPv6 42532 0t0 TCP localhost:2809->localhost:57403 (ESTABLISHED) omniNames 5912 akiba 20u IPv6 37637 0t0 TCP localhost:2809->localhost:57413 (ESTABLISHED) omniNames 5912 akiba 21u IPv6 40436 0t0 TCP localhost:2809->localhost:57422 (ESTABLISHED) omniNames 5912 akiba 22u IPv6 37642 0t0 TCP localhost:2809->localhost:57424 (ESTABLISHED) openhrp-m 5945 akiba 11u IPv4 41018 0t0 TCP localhost:57309->localhost:2809 (ESTABLISHED) hrpsys-si 5950 akiba 12u IPv4 35593 0t0 TCP localhost:57310->localhost:2809 (ESTABLISHED) hrpsys-si 5950 akiba 14u IPv4 42395 0t0 TCP yken-ROS.local:53431->yken-ROS.local:2809 (ESTABLISHED) HrpsysSeq 5964 akiba 9u IPv4 39296 0t0 TCP localhost:57313->localhost:2809 (ESTABLISHED) HrpsysJoi 5975 akiba 9u IPv4 36770 0t0 TCP localhost:57315->localhost:2809 (ESTABLISHED) python 6000 akiba 4u IPv4 41045 0t0 TCP localhost:57392->localhost:2809 (ESTABLISHED) sensor_ro 6078 akiba 5u IPv4 37633 0t0 TCP localhost:57395->localhost:2809 (ESTABLISHED) SequenceP 6099 akiba 8u IPv4 38317 0t0 TCP localhost:57403->localhost:2809 (ESTABLISHED) DataLogge 6120 akiba 8u IPv4 40429 0t0 TCP localhost:57413->localhost:2809 (ESTABLISHED) ForwardKi 6134 akiba 8u IPv4 35632 0t0 TCP localhost:57422->localhost:2809 (ESTABLISHED) StateHold 6143 akiba 8u IPv4 42553 0t0 TCP localhost:57424->localhost:2809 (ESTABLISHED)
となりました．
加えて， roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch の画面出力も下記に示しますが，
omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 は表示されたままです．
また，紹介して頂いたサイト hironx_ros_bridge - rtm-ros-robotics - One-sentence summary of this page. - RTM-ROS 相互運用プロジェクト - Google Project Hosting https://code.google.com/p/rtm-ros-robotics/wiki/hironx_ros_bridge の成功した時の画面出力がこちら側では出ていないのですが， これも今まで問題になっているcorbaのポートが原因なのでしょうか．
宜しくお願いいたします．
akiba@yken-ROS:~$ roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch ... logging to /home/akiba/.ros/log/7812f396-f8f9-11e2-915d-5404a60a5af7/roslaunch-yken-ROS-5925.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://yken-ROS:39305/
PARAMETERS
NODES / DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hrpsys (hrpsys/hrpsys-simulator) 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) modelloader (openhrp3/openhrp-model-loader) 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...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 02:46:13
... 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 ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [5945] ready process[hrpsys-2]: started with pid [5950] process[hrpsys_py-3]: started with pid [5951] process[HrpsysSeqStateROSBridge-4]: started with pid [5964] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[HrpsysJointTrajectoryBridge-5]: started with pid [5975] [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[hrpsys_state_publisher-6]: started with pid [5984] process[hrpsys_ros_diagnostics-7]: started with pid [5998] loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae process[hrpsys_profile-8]: started with pid [6000] Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices process[diagnostic_aggregator-9]: started with pid [6006] The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint nodeWAIST Segment node BODY The model was successfully loaded ! process[sensor_ros_bridge_connect-10]: started with pid [6078] process[rtmlaunch_hrpsys_ros_bridge-11]: started with pid [6083] process[SequencePlayerServiceROSBridge-12]: started with pid [6099] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [rtmlaunch] starting... /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [sensor_ros_bridge_connect.py] start omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [rtmlaunch] RTCTREE_NAMESERVERS localhost localhost [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 [rtmlaunch] check connection/activation [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 0 /30 process[DataLoggerServiceROSBridge-13]: started with pid [6120] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[ForwardKinematicsServiceROSBridge-14]: started with pid [6134] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[StateHolderServiceROSBridge-15]: started with pid [6143] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [hrpsys.py] wait for RTCmanager : yken-ROS [sensor_ros_bridge_connect.py] wait for RTCmanager : yken-ROS [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 1 /30 [hrpsys.py] wait for HiroNX(Robot)0 : <rtm.RTcomponent instance at 0x219f7a0> (timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x219f7a0> [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc] = self.createComp("SequencePlayer","seq") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> SequencePlayer : <rtm.RTcomponent instance at 0x21a0d40> [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x21a6998> [hrpsys.py] eval : [self.sh, self.sh_svc] = self.createComp("StateHolder","sh") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] create Comp -> StateHolder : <rtm.RTcomponent instance at 0x21a04d0> [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x21a5950> [hrpsys.py] eval : [self.fk, self.fk_svc] = self.createComp("ForwardKinematics","f...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 02:46:13
...k") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> ForwardKinematics : <rtm.RTcomponent instance at 0x21a0488> [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x21a5b48> [hrpsys.py] eval : [self.sc, self.sc_svc] = self.createComp("ServoController","sc") [WARNING] sc: needs servo.devname property [WARNING] sc: running in dummy mode [hrpsys.py] create Comp -> ServoController : <rtm.RTcomponent instance at 0x219fb90> [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x21a6710> [hrpsys.py] eval : [self.log, self.log_svc] = self.createComp("DataLogger","log") [hrpsys.py] create Comp -> DataLogger : <rtm.RTcomponent instance at 0x219f950> [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x21a02d8> [hrpsys.py] connecting components [hrpsys.py] activating components [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = tau [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef [hrpsys.py] setup logger done [hrpsys.py] initialized successfully [hrpsys_py-3] process has finished cleanly log file: /home/akiba/.ros/log/7812f396-f8f9-11e2-915d-5404a60a5af7/hrpsys_py-3*.log [sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <rtm.RTcomponent instance at 0x2f5edd0> (timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x2f5edd0> [sensor_ros_bridge_connect.py] simulation_mode : True [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 2 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 3 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 4 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 5 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 6 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 7 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 8 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 9 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 10 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 11 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 12 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 13 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 14 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 15 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 16 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 17 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 18 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 19 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 20 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 21 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 22 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 23 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 24 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 25 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 26 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 27 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 28 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc 29 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Could not Activate : No such object: /localhost/HrpsysSeqStateROSBridge0.rtc [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 2 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 3 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rtmlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 4 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : None [rt...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 02:46:13
...mlaunch] Wait for /localhost/HrpsysSeqStateROSBridge0.rtc:rsangle 5 /30
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 30, 2013 03:13:26
度々お手数をおかけしすいません．同じ原因のようですね． rosrun openrtm_aist rtm-naming してから roslaunch hrionx_ros_bridge hironx_startup.launch しても同じでしょうか
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 03:24:33
山形大学の秋葉です．
rosrun openrtm_aist rtm-naming をやり直し， roslaunch hironx_ros_bridge hironx_startup.launch をしたところ，
akiba@yken-ROS:~$ sudo lsof -i:2810 [sudo] password for akiba: COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME hrpsys-si 6781 akiba 11u IPv6 90133 0t0 TCP *:2810 (LISTEN)
また，
akiba@yken-ROS:~$ sudo lsof -i:2809 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME omniNames 6707 akiba 9u IPv6 88158 0t0 TCP *:2809 (LISTEN) omniNames 6707 akiba 11u IPv6 87099 0t0 TCP localhost:2809->localhost:57848 (ESTABLISHED) omniNames 6707 akiba 12u IPv6 87100 0t0 TCP localhost:2809->localhost:57849 (ESTABLISHED) omniNames 6707 akiba 13u IPv6 87107 0t0 TCP yken-ROS.local:2809->yken-ROS.local:53970 (ESTABLISHED) openhrp-m 6776 akiba 11u IPv4 85783 0t0 TCP localhost:57848->localhost:2809 (ESTABLISHED) hrpsys-si 6781 akiba 12u IPv4 89147 0t0 TCP localhost:57849->localhost:2809 (ESTABLISHED) hrpsys-si 6781 akiba 14u IPv4 83961 0t0 TCP yken-ROS.local:53970->yken-ROS.local:2809 (ESTABLISHED)
となりました．
加えて， rosrun openrtm_aist rtm-naming を何度か繰り返して roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch を行ったのですが， 状況は変わりませんでした．
何度も申し訳ありませんが， 宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 30, 2013 04:05:54
rosrun openrtm_aist rtm-naming をやり直し， roslaunch hironx_ros_bridge hironx_startup.launch をしたところ， は動いているでしょうか？（青い画面にHIROが表示されていると思います） もし動いていれば，そこから， roslaunch hrionx_ros_bridge hironx_ros_bridge.launch としたらどうなるでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 05:00:00
山形大学の秋葉です．
rosrun openrtm_aist rtm-naming を実行し， roslaunch hironx_ros_bridge hironx_startup.launch を行ったところ， HIROのモデルが表示されたウィンドウなどが出ているので， そのまま roslaunch hrionx_ros_bridge hironx_ros_bridge.launch を行いました．
その場合， akiba@yken-ROS:~$ sudo lsof -i:2810 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME hrpsys-si 12606 akiba 11u IPv6 180704 0t0 TCP *:2810 (LISTEN) hrpsys-si 12606 akiba 28u IPv6 180199 0t0 TCP yken-ROS:2810->localhost:33613 (ESTABLISHED) hrpsys-si 12606 akiba 29u IPv6 181526 0t0 TCP yken-ROS.local:2810->yken-ROS.local:47805 (ESTABLISHED) python 12677 akiba 3u IPv4 184427 0t0 TCP localhost:33613->yken-ROS:2810 (ESTABLISHED) python 12677 akiba 12u IPv4 180210 0t0 TCP yken-ROS.local:47805->yken-ROS.local:2810 (ESTABLISHED)
akiba@yken-ROS:~$ sudo lsof -i:2809 COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME omniNames 12575 akiba 9u IPv6 183732 0t0 TCP *:2809 (LISTEN) omniNames 12575 akiba 11u IPv6 180168 0t0 TCP localhost:2809->localhost:59818 (ESTABLISHED) omniNames 12575 akiba 12u IPv6 180171 0t0 TCP localhost:2809->localhost:59819 (ESTABLISHED) omniNames 12575 akiba 13u IPv6 180172 0t0 TCP yken-ROS.local:2809->yken-ROS.local:55940 (ESTABLISHED) omniNames 12575 akiba 14u IPv6 184426 0t0 TCP localhost:2809->localhost:59912 (ESTABLISHED) openhrp-m 12601 akiba 11u IPv4 182483 0t0 TCP localhost:59818->localhost:2809 (ESTABLISHED) hrpsys-si 12606 akiba 12u IPv4 181430 0t0 TCP localhost:59819->localhost:2809 (ESTABLISHED) hrpsys-si 12606 akiba 14u IPv4 181433 0t0 TCP yken-ROS.local:55940->yken-ROS.local:2809 (ESTABLISHED) python 12677 akiba 4u IPv4 180198 0t0 TCP localhost:59912->localhost:2809 (ESTABLISHED)
となりました．
また， roslaunch hironx_ros_bridge hironx_startup.launch と roslaunch hrionx_ros_bridge hironx_ros_bridge.launch の画面出力を下記に載せます．
宜しくお願いいたします．
################################################################## roslaunch hironx_ros_bridge hironx_startup.launchの画面出力 ################################################################## akiba@yken-ROS:~$ roslaunch hironx_ros_bridge hironx_startup.launch ... logging to /home/akiba/.ros/log/c008c89c-f90d-11e2-b2e2-5404a60a5af7/roslaunch-yken-ROS-12581.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://yken-ROS:33752/
PARAMETERS
NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hironx_ros_bridge/hironx.py) modelloader (openhrp3/openhrp-model-loader)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [12601] ready process[hrpsys-2]: started with pid [12606] process[hrpsys_py-3]: started with pid [12607] [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint nodeWAIST Segment node BODY The model was successfully loaded ! [hrpsys.py] wait for RTCmanager : yken-ROS [hrpsys.py] wait for HiroNX(Robot)0 : <rtm.RTcomponent instance at 0x30a27a0> (timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <rtm.RTcomponent instance at 0x30a27a0> [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc] = self.createComp("SequencePlayer","seq") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> SequencePlayer : <rtm.RTcomponent instance at 0x30a3d40> [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x30a9998> [hrpsys.py] eval : [self.sh, self.sh_svc] = self.createComp("StateHolder","sh") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] create Comp -> StateHolder : <rtm.RTcomponent instance at 0x30a34d0> [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x30a8950> [hrpsys.py] eval : [self.fk, self.fk_svc] = self.createComp("ForwardKinematics","fk") cache found for file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> ForwardKinematics : <rtm.RTcomponent instance at 0x30a3488> [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x30a8b48> [hrpsys.py] eval : [self.sc, self.sc_svc] =...
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 05:00:00
... self.createComp("ServoController","sc") [WARNING] sc: needs servo.devname property [WARNING] sc: running in dummy mode [hrpsys.py] create Comp -> ServoController : <rtm.RTcomponent instance at 0x30a2b90> [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x30a9710> [hrpsys.py] eval : [self.log, self.log_svc] = self.createComp("DataLogger","log") [hrpsys.py] create Comp -> DataLogger : <rtm.RTcomponent instance at 0x30a2950> [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x30a32d8> [hrpsys.py] connecting components [hrpsys.py] activating components [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = tau [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef [hrpsys.py] setup logger done [hrpsys.py] initialized successfully [hrpsys_py-3] process has finished cleanly log file: /home/akiba/.ros/log/c008c89c-f90d-11e2-b2e2-5404a60a5af7/hrpsys_py-3*.log ^C[hrpsys-2] killing on exit [modelloader-1] killing on exit terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' shutting down processing monitor... ... shutting down processing monitor complete done
################################################################## roslaunch hironx_ros_bridge hironx_ros_bridge.launch の画面出力 ################################################################## akiba@yken-ROS:~$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch ... logging to /home/akiba/.ros/log/c008c89c-f90d-11e2-b2e2-5404a60a5af7/roslaunch-yken-ROS-12636.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://yken-ROS:58367/
PARAMETERS
NODES / DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) 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_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 rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[HrpsysSeqStateROSBridge-1]: started with pid [12656]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[HrpsysJointTrajectoryBridge-2]: started with pid [12659]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[hrpsys_state_publisher-3]: started with pid [12662]
process[hrpsys_ros_diagnostics-4]: started with pid [12676]
process[hrpsys_profile-5]: started with pid [12677]
process[diagnostic_aggregator-6]: started with pid [12678]
process[sensor_ros_bridge_connect-7]: started with pid [12699]
process[rtmlaunch_hrpsys_ros_bridge-8]: started with pid [12756]
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 6, in
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 05:00:00
...dress in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
[rtmlaunch] starting... /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS hiro014 hiro014
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
[rtmlaunch] Could not Activate : Invalid CORBA naming service: hiro014
[rtmlaunch] [ERROR] Could not Connect : Invalid CORBA naming service: hiro014
process[DataLoggerServiceROSBridge-10]: started with pid [12786]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[ForwardKinematicsServiceROSBridge-11]: started with pid [12797]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
process[StateHolderServiceROSBridge-12]: started with pid [12800]
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
omniORB: Failed to bind to address :: port 2810. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
[rtmlaunch] check connection/activation
[rtmlaunch] Could not Activate : Invalid CORBA naming service: hiro014
[rtmlaunch] [ERROR] Could not Connect : Invalid CORBA naming service: hiro014
[rtmlaunch] check connection/activation
[rtmlaunch] Could not Activate : Invalid CORBA naming service: hiro014
[rtmlaunch] [ERROR] Could not Connect : Invalid CORBA naming service: hiro014
[rtmlaunch] check connection/activation
[rtmlaunch] Could not Activate : Invalid CORBA naming service: hiro014
[rtmlaunch] [ERROR] Could not Connect : Invalid CORBA naming service: hiro014
^C[StateHolderServiceROSBridge-12] killing on exit
[ForwardKinematicsServiceROSBridge-11] killing on exit
[DataLoggerServiceROSBridge-10] killing on exit
[SequencePlayerServiceROSBridge-9] killing on exit
[rtmlaunch_hrpsys_ros_bridge-8] killing on exit
[diagnostic_aggregator-6] killing on exit
[hrpsys_profile-5] killing on exit
[hrpsys_ros_diagnostics-4] killing on exit
[hrpsys_state_publisher-3] killing on exit
[HrpsysJointTrajectoryBridge-2] killing on exit
Traceback (most recent call last):
File "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 179, in
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 30, 2013 06:28:45
roslaunch hrionx_ros_bridge hironx_ros_bridge.launch は実機用でしたので，モデルがちがっていましたね．すいません．
roslaunch hironx_ros_bridge hironx_startup.launch したあと， roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash して， roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge_simulation.launch として，でてきた出力のうち(や)となっているところを(, ) として実行しするとどうなるでしょうか？ omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 が出てくるところがあれば，そこで実行したコマンドをしりたいところです．
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 06:58:49
山形大学の秋葉です．
roslaunch hironx_ros_bridge hironx_startup.launch をした後， roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash とした時点で
akiba@yken-ROS:~$ roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
というような出力が出ました．
また，それら２つをそのままにして， roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge_simulation.launch をすると，
akiba@yken-ROS:~$ roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge_simulation.launch [hironx_ros_bridge_simulation.launch] does not exist. please specify a package and launch file
となってしまったので，代わりに roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge hironx_ros_bridge_simulation.launch とやってみると
akiba@yken-ROS:~$ roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge hironx_ros_bridge_simulation.launch LANG=C SIMULATOR_NAME=HiroNX(Robot)0 ORBgiopMaxMsgSize=2147483648 RTCTREE_NAMESERVERS=localhost /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch USE_COMMON=true USE_WALKING=false USE_COLLISIONCHEC=false USE_IMPEDANCECONTROLLER=false USE_SOFTERRORLIMIT=false USE_IMAGESENSOR=false USE_ROBOTHARDWARE=false __name:=rtmlaunch_hrpsys_ros_bridge
となりました．
として，でてきた出力のうち(や)となっているところを(, ) として実行しするとどうなるでしょうか？ すいません． 自分の理解が足りないため，この部分をどのように行うと良いのかわからないのですが， roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash の時点でエラーが出ているので行わなくても大丈夫でしょうか．
宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 30, 2013 08:15:28
おかしいですね． roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch とすると，どういう表示になるでしょうか．
roslaunch --args rtmlaunch_hrpsys_ros_bridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash としたいのですが，HiroNX(Robot) の()でエラーになるので， LANG=C SIMULATOR_NAME=HiroNX(Robot)0 ORBgiopMaxMsgSize=2147483648 RTCTREE_NAMESERVERS=localhost /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch USE_COMMON=true USE_WALKING=false USE_COLLISIONCHEC=false USE_IMPEDANCECONTROLLER=false USE_SOFTERRORLIMIT=false USE_IMAGESENSOR=false USE_ROBOTHARDWARE=false __name:=rtmlaunch_hrpsys_ros_bridge としてプログラムを実行して下さい．という意味したが，おっしゃるように最初の ステップでエラーなしで動いている必要があります．
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 20:44:18
山形大学の秋葉です． お世話になっております．
roslaunch hironx_ros_bridge hironx_startup.launch をせずに， roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch を行うと次のようになりました．
akiba@yken-ROS:~$ roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch LANG=C ORBgiopMaxMsgSize=2147483648 RTCTREE_NAMESERVERS=localhost /home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/bin/HrpsysSeqStateROSBridge -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae __name:=HrpsysSeqStateROSBridge
また， roslaunch hironx_ros_bridge hironx_startup.launch を実行した後，同じように roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch を行なっても，同様の出力になりました．
宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 30, 2013 22:34:16
今度は， cat /etc/hosts はどうなっていますでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 30, 2013 23:03:08
山形大学の秋葉です．
akiba@yken-ROS:~$ cat /etc/hosts 127.0.0.1 localhost 127.0.1.1 yken-ROS
となっています． 一応，IPv6は無効化しています．
宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 31, 2013 17:42:56
hostname hostname -l hostname -a python -c "import socket; print socket.gethostname()" python -c "import socket; print socket.gethostbyaddr(socket.gethostname())" のそれぞれの結果はどうなるでしょうか？
k-okada
commented
10 years ago From nao.luna...@gmail.com on July 31, 2013 18:55:11
山形大学の秋葉です． お世話になっております．
akiba@yken-ROS:~$ hostname yken-ROS
(-lというオプションはなかったので-iで大丈夫でしょうか．) akiba@yken-ROS:~$ hostname -i 127.0.1.1
akiba@yken-ROS:~$ hostname -a (何も出力はありませんでした．)
akiba@yken-ROS:~$ python -c "import socket; print socket.gethostname()" yken-ROS
akiba@yken-ROS:~$ python -c "import socket; print socket.gethostbyaddr(socket.gethostname())" ('yken-ROS', [], ['127.0.1.1'])
上記のようになりました． 宜しくお願いいたします．
k-okada
commented
10 years ago From kei.ok...@gmail.com on July 31, 2013 19:06:32
私と同じですね．
cd ~/ros/groovy/rtm-ros-robotics svn up * # で最新に svn diff # でローカルの変更がないことを確認 rosmake hironx_ros_bridge
あるいは cd ~/ros/groovy rm -fr rtm-ros-robotics/* rosws update rosmake hironx_ros_bridge をもう一度して，
１）リブート ２）rosrun openrtm_aist rtm-naming ３）roslaunch hironx_ros_bridge hironx_startup.launch ４）roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash
でも，結果は同じでしょうか？（もう既に何度もやられていますでしょうか）
k-okada
commented
10 years ago From nao.luna...@gmail.com on August 04, 2013 20:01:33
山形大学の秋葉です． お世話になっております．
返事が遅れてしまい申し訳ありません．
こちらはgroovyではなくfuerteなので， 岡田先生のgroovyのところをfuerteに読み替え，同様に行いました．
両方の方法で何度か行いましたが，
roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810
となり，状況は変わりませんでした．
現在，VirtualBoxでの仮想Ubuntu12.04 64bitでROSのインストールなど同様の環境を構築中です． 仮想化された方できちんとHIROのシミュレーションが動くのを確認することができた場合， 問題が起きているPCに対して，ROSのインストール，または，Ubuntuの再インストールなどを行い， 問題の回避を行うことも考えています．
根本的な解決にはならないですが， 岡田先生に長時間対応して頂くのも申し訳ないと思っております．
宜しくお願いいたします．
k-okada
commented
10 years ago From nao.luna...@gmail.com on August 05, 2013 18:31:39
山形大学の秋葉です． お世話になっております．
VirtualBoxでの仮想Ubuntu12.04 64bitでROSの環境を構築し， 同様に行ったところ， 下のようになりました．
akiba@akiba-VirtualBox:~$ roslaunch --args /HrpsysSeqStateROSBridge hironx_ros_bridge hironx_ros_bridge_simulation.launch | bash [ WARN] [1375751867.273081134]: [HrpsysSeqStateROSBridge] use_hrpsys_time [ INFO] [1375751867.293966851]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint Warning: Model HiroNX has empty joint ID in the valid IDs. [ INFO] [1375751867.462301970]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1375751867.462695793]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
これまでの環境で出ていた omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 も出力されていないので， これは正しく動作していると言っていいのでしょうか．
また． hironx_ros_bridge - rtm-ros-robotics - One-sentence summary of this page. - RTM-ROS 相互運用プロジェクト - Google Project Hosting http://code.google.com/p/rtm-ros-robotics/wiki/hironx_ros_bridge を参考に
roslaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
を行ったところ，
[ INFO] [1375752225.219168919, 254.464999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] [ INFO] [1375752226.220698621, 255.464999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] [ INFO] [1375752227.227561556, 256.469999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] [ INFO] [1375752228.231398010, 257.474999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] [ INFO] [1375752229.236594257, 258.474999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz]
という出力がきちんと出ています．
しかし，これは今までと別の問題だと思うのですが，
rosrun rviz rviz -d rospack find hironx_ros_bridge/models/kawada-hironx.rviz
をすると，RVizが出てきますが，HIROのモデルが出ていません．
Grobal OptionsのFixed Frameなどを選択するとリンクがたくさん選択できるようになっているので 全く動いていないというわけではないと思います．
下に画面出力を示します．
宜しくお願いいたします．
akiba@akiba-VirtualBox:~$ rosrun rviz rviz -d rospack find hironx_ros_bridge/models/kawada-hironx.rviz
[ INFO] [1375752006.311553047]: rviz revision number 1.8.17
[ INFO] [1375752006.311625998]: compiled against OGRE version 1.7.3 (Cthugha)
[ERROR] [1375752006.499007973]: Skipping XML Document "/home/akiba/ros/fuerte/bosch-ros-pkg/stacks/bosch_shared_autonomy/bosch_object_segmentation_gui/lib/rviz_plugin.yaml" which had no Root Element. This likely means the XML is malformed or missing.
[ INFO] [1375752006.603543885, 35.949999999]: Loading display config from []
[ INFO] [1375752006.604044478, 35.949999999]: Loading general config from [/home/akiba/.rviz/config]
OpenGL Warning: Failed to connect to host. Make sure 3D acceleration is enabled for this VM.
libGL error: failed to load driver: vboxvideo
libGL error: Try again with LIBGL_DEBUG=verbose for more details.
[ERROR] [1375752007.943317158, 37.340000000]: Skipping XML Document "/home/akiba/ros/fuerte/bosch-ros-pkg/stacks/bosch_shared_autonomy/bosch_object_segmentation_gui/lib/rviz_plugin.yaml" which had no Root Element. This likely means the XML is malformed or missing.
[ INFO] [1375752008.014079666, 37.420000000]: Texture for pass 0: creating with size 1 x 1
[ INFO] [1375752008.014938026, 37.420000000]: Texture for pass 1: creating with size 1 x 1
k-okada
commented
10 years ago From kei.ok...@gmail.com on August 18, 2013 18:50:43
秋葉様
岡田です．ご連絡がおそくなりすいません． http://answers.ros.org/question/35172/does-rviz-run-properly-on-a-virtual-machine-i-followed-all-instructions-but-the-display-is-just-a-blank-screen/ などにあるようにrvizをVM上で動かすのは一般には難しいとおもいます． ただ，上のご報告をみるにsegmentation faultもせずに動いているということですので， http://www.ros.org/wiki/rviz/Troubleshooting virtualboxには詳しくないですが，3D accelerationのオプションがあればONにする， export LIBGL_ALWAYS_SOFTWARE=1 を使ってみるなどを試すのはどうでしょうか．
また，displayからtfというメッセージを選択して表示できると モデル自体は表示されませんが，各リンクが表示されますので， 動作を確認できると思います．
これとは別に，もしこれでうごいたとすると，なぜそれまでの環境では 動かなかったがやはり気になりますね．．．．
k-okada
commented
10 years ago From nao.luna...@gmail.com on August 21, 2013 22:24:34
山形大学の秋葉です。 お世話になっております。
わかりました。 仮想OSはメインに使うのではなく、 これまでのエラーに再現性があるのかを見たいため用いました。
結果として、仮想OSでは今までの問題が出てこないと言うことが分かったので、 OSをインストールし直してROSもインストールし直せば、一応問題を回避できそうであるということが分かりました。
根本的な原因は分からないままですが、 長期間のアドバイス有難うございました。
失礼致します。
k-okada
commented
10 years ago From kei.ok...@gmail.com on August 22, 2013 01:20:49
せっかくなので，何とかして解決したいとおもっていますので，もう少し辛抱してもらえると助かります．
実は，今度こそ，わかったかもしれません．
以下のMLを見るとrtc.conf がなにか有効になっているのかもしれません． rmtors-roboticsでは極力，実行時のオプションでrtc.confに書かれている 情報を読み込むようにしていますが，どこか（ヤマカンですが/etc/rtc.conf)にあるとそちらが 優先されるようなことがあるのかもしれません．
locate rtc.conf として見つかったファイルで怪しいのを一旦renameして試してもらえないでしょうか？ http://www.openrtm.org/openrtm/en/content/openrtm-users-02876-%E3%83%9E%E3%83%8D%E3%83%BC%E3%82%B8%E3%83%A3%E3%83%BC%E3%81%8C%E4%BD%BF%E3%81%86%E3%83%9D%E3%83%BC%E3%83%88%E7%95%AA%E5%8F%B7%E3%81%AB%E3%81%A4%E3%81%84%E3%81%A6
k-okada
commented
10 years ago From nao.luna...@gmail.com on August 22, 2013 05:25:40
山形大学の秋葉です。
申し訳ないのですが、 新しいOSを入れる前に現在のOSを消してしまいました。
原因の調査をしていただいたのに誠に申し訳ありません。
よろしくお願いいたします。
From nao.luna...@gmail.com on July 24, 2013 18:48:30
山形大学の秋葉直樹と申します．
こちらではHIROのシミュレーション環境を構築中なのですが， 教えていただきたいことがあり， issuesに質問させて頂きます． よろしくおねがいします．
HIROのシミュレーションを利用するために， roslaunch hrpsys_ros_bridge_tutorials hironx.launch を実行しました．
結果として， 「hrpsys viewer」 というウィンドウはHIROのモデルが出てくるのですが，
RVizの中のモデルは HIROの頭と腕が取れた状態のような形をしていて， モデルが真っ白になっています．
また，左側の「Displays」というメニューの中では 「02.Robot Model (RobotModel)」のStatusがErrorになっています． GridとTFのStatusはOKになっています．
roslaunch hrpsys_ros_bridge_tutorials hironx.launch を実行した時の画面出力を下に示しますが，
出力を見ると， [ERROR] [1374658365.415421455]: Skipping XML Document "/home/akiba/ros/fuerte/bosch-ros-pkg/stacks/bosch_shared_autonomy/bosch_object_segmentation_gui/lib/rviz_plugin.yaml" which had no Root Element. This likely means the XML is malformed or missing. とあり，モデルを正常に読み込めていないようなのですが， どのように解決したらよいかがわかりません．
ご存じの方がいらっしゃいましたら， ご教授頂きたいと思っています． 宜しくお願いいたします．
$ roslaunch hrpsys_ros_bridge_tutorials hironx.launch ... logging to /home/akiba/.ros/log/e17e61fe-f443-11e2-8304-5404a60a5af7/roslaunch-yken-ROS-7430.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://yken:45787/
SUMMARY
PARAMETERS
NODES / AutoBalancerServiceROSBridge (hrpsys/AutoBalancerServiceROSBridgeComp) CollisionDetectorServiceROSBridge (hrpsys/CollisionDetectorServiceROSBridgeComp) DataLoggerServiceROSBridge (hrpsys/DataLoggerServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) ImageSensorROSBridge (hrpsys_ros_bridge/ImageSensorROSBridge) ImpedanceControllerServiceROSBridge (hrpsys/ImpedanceControllerServiceROSBridgeComp) RobotHardwareServiceROSBridge (hrpsys/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys/SequencePlayerServiceROSBridgeComp) SoftErrorLimiterServiceROSBridge (hrpsys/SoftErrorLimiterServiceROSBridgeComp) StabilizerServiceROSBridge (hrpsys/StabilizerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys/StateHolderServiceROSBridgeComp) hironx_rviz (rviz/rviz) hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys/hrpsys.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) rtmlaunch_hrpsys_ros_bridge (openrtm/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
WARNING: unrecognized tag moge WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag 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 rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag sphinxdoc ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[modelloader-1]: started with pid [7451] ready process[hrpsys-2]: started with pid [7456] process[hrpsys_py-3]: started with pid [7469] process[HrpsysSeqStateROSBridge-4]: started with pid [7470] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[HrpsysJointTrajectoryBridge-5]: started with pid [7481] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 process[ImageSensorROSBridge-6]: started with pid [7489] omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 omniORB: Failed to bind to address :: port 2810. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2810 loading file:///home/akiba/ros/fuerte/jsk-ros-pkg/openrave_planning/collada_robots/data/robots/kawada-hironx.dae Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///home/akiba/ros/fuerte/rtm-ros-robotics/rtmros_common/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint nodeWAIST Segment node BODY The model was successfully ...
Original issue: http://code.google.com/p/rtm-ros-robotics/issues/detail?id=140