No robot model appears on Hrp simulator with hironx Hydro

[k-okada]

From gm130s on November 22, 2013 12:09:11

I'm not sure if I'm seeing multiple issues at once. What I want is to show the robot on the hrp simulator that doesn't appear, and the lines at the end of the following log keep going forever. Is something missing? Ubuntu Raring.

$ env | grep ROS
ROS_ROOT=/opt/ros/hydro/share/ros
ROS_PACKAGE_PATH=/opt/ros/hydro/share:/opt/ros/hydro/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_DISTRO=hydro
ROS_ETC_DIR=/opt/ros/hydro/etc/ros
$ dpkg -p ros-hydro-hironx-ros-bridge 
Version: 1.0.5-0raring-20131121-1420-+0000
$ dpkg -p ros-hydro-hrpsys-ros-bridge 
Version: 1.0.5-0raring-20131121-1408-+0000
$ dpkg -p ros-hydro-hrpsys
Version: 315.0.0-0raring-20131121-1345-+0000
$ dpkg -p ros-hydro-openrtm-aist
Version: 1.1.0-0raring-20131121-0907-+0000
Depends: libc6 (>= 2.17), libgcc1 (>= 1:4.1.1), libomniorb4-1 (>= 4.1.6), libomnithread3c2 (>= 4.0.6), libstdc++6 (>= 4.1.1), libuuid1 (>= 2.16), libomniorb4-dev, libomnithread3-dev, omniidl, omniorb, omniorb-nameserver, uuid-dev
$ source `rospack find openrtm_tools`/scripts/rtshell-setup.sh
$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch 
[rtmlaunch] Start omniNames at port 15005 

Fri Nov 22 11:47:01 2013:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003139322e3136382e382e313239009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000a5c58e52010028b4
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/rosuser/.ros/log/5d3ade9a-5320-11e3-95d4-28d24420ab05/roslaunch-130s-t440s-10417.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://130s-t440s:38079/

SUMMARY
========

PARAMETERS
 * /controller_configuration
 * /diagnostic_aggregator/analyzers/computers/contains
 * /diagnostic_aggregator/analyzers/computers/path
 * /diagnostic_aggregator/analyzers/computers/type
 * /diagnostic_aggregator/analyzers/hrpsys/contains
 * /diagnostic_aggregator/analyzers/hrpsys/path
 * /diagnostic_aggregator/analyzers/hrpsys/type
 * /diagnostic_aggregator/analyzers/mode/contains
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/motor/contains
 * /diagnostic_aggregator/analyzers/motor/path
 * /diagnostic_aggregator/analyzers/motor/type
 * /diagnostic_aggregator/base_path
 * /diagnostic_aggregator/pub_rate
 * /robot_description
 * /rosdistro
 * /rosversion
 * /use_sim_time

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 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
auto-starting new master
process[master]: started with pid [10433]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5d3ade9a-5320-11e3-95d4-28d24420ab05
process[rosout-1]: started with pid [10446]
started core service [/rosout]
process[modelloader-2]: started with pid [10460]
ready
process[hrpsys-3]: started with pid [10465]
process[hrpsys_py-4]: started with pid [10466]
process[HrpsysSeqStateROSBridge-5]: started with pid [10480]
loading file:///tmp/buildd/ros-hydro-hironx-ros-bridge-1.0.5-0raring-20131121-1420/models/kawada-hironx.dae
Collada Error: COLLADA error: Failed to open file:/tmp/buildd/ros-hydro-hironx-ros-bridge-1.0.5-0raring-20131121-1420/models/kawada-hironx.dae in daeLIBXMLPlugin::readFromFile

Collada Error: COLLADA error: Failed to load file:/tmp/buildd/ros-hydro-hironx-ros-bridge-1.0.5-0raring-20131121-1420/models/kawada-hironx.dae

loading failed.
The model file cannot be found.
The model file cannot be found.
omniORB: ERROR -- A servant has been deleted that is still activated.
      id: root<7> (active)
loading file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint nodeWAIST
  Segment node BODY
The model was successfully loaded ! 
can't find a body named kawada-hironx or HiroNX(Robot)0
factory name for HiroNX(Robot)0 is not defined
can't find a port named HiroNX(Robot)0.qRef
process[HrpsysJointTrajectoryBridge-6]: started with pid [10502]
loading /opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae
process[hrpsys_state_publisher-7]: started with pid [10532]
process[hrpsys_ros_diagnostics-8]: started with pid [10546]
[ WARN] [1385088424.794132347]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1385088424.883755658]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
loading /opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae
process[hrpsys_profile-9]: started w...

Original issue: http://code.google.com/p/rtm-ros-robotics/issues/detail?id=266

[k-okada]

From kei.ok...@gmail.com on November 21, 2013 23:03:44

https://code.google.com/p/rtm-ros-robotics/source/diff?spec=svn6039&r=6039&format=side&path=/trunk/rtmros_hironx/hironx_ros_bridge/catkin.cmake Please check if above patch is included .

[k-okada]

From gm130s on November 22, 2013 02:30:40

I see 1.0.5 hironx_ros_bridge doesn't include this patch. Now I'll try with source locally first.

Status: Accepted

[k-okada]

From kei.ok...@gmail.com on November 22, 2013 02:46:54

tips:

when you try local environment, make sure that you don't have deb installed and remove/rename devel, build and src directory. Sometimes node find files under such directory and pretend that it working well.

[k-okada]

From gm130s on November 22, 2013 02:55:45

Good to know the tip! Meanwhile I think releasing a new version of hironx_ros_bridge wouldn't harm, so I'll do so too.

[k-okada]

From gm130s on November 22, 2013 17:51:04

With r6152 I see the robot model appears on Hrp simulator (Hydro, Raring).

Status: Fixed

[k-okada]

From gm130s on November 22, 2013 18:38:15

Sorry to reopen. After purging deb binaries ros-hydro-openrtm-aist and all its downstream debs as suggested, I run from source and hrp simulator starts to crash immediately after it gets launched.

I suspect CORBA issue but not sure now yet.

$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
Sat Nov 23 11:25:12 2013:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e312e313400009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000081290520100768e
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtconnect[0m
[31mWARNING: unrecognized tag rtactivate[0m
[31mWARNING: unrecognized tag rtactivate[0m
[31mWARNING: unrecognized tag rtactivate[0m
[31mWARNING: unrecognized tag rtactivate[0m
[31mWARNING: unrecognized tag rtactivate[0m
[31mWARNING: unrecognized tag rtactivate[0m
ready
loading file:///home/robouROS/hydro_raring/catkinws/src/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 file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
Retrying to load the file as a standard VRML file
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
loading failed.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
omniORB: ERROR -- A servant has been deleted that is still activated.
      id: root<15> (active)
can't find a body named longfloor or longfloor(Robot)0
factory name for longfloor(Robot)0 is not defined
loading /home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
loading /home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
Collada Warning: fill asset info
[31m[ERROR] [1385173520.310062209]: Exception while creating planning plugin loader rospack could not find the urdf_parser_plugin package containing urdf::URDFParser. Will not parse Collada file.[0m
[31m[ERROR] [1385173520.312608365]: Could not generate robot model[0m
[31m[ERROR] [1385173520.313672639]: Failed to extract kdl tree from xml robot description[0m
configuration ORB with  localhost : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
Traceback (most recent call last):
  File "/home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/scripts/hironx.py", line 35, in <module>
    hiro.init(robotname=args.robot, url=args.modelfile)
  File "/home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py", line 64, in init
    HrpsysConfigurator.init(self, robotname=robotname, url=url)
  File "/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 683, in init
    self.waitForRTCManagerAndRoboHardware(robotname)
  File "/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 496, in waitForRTCManagerAndRoboHardware
    self.waitForRTCManager(managerhost)
  File "/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 459, in waitForRTCManager
    self.ms = rtm.findRTCmanager(managerhost)
  File "/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 333, in findRTCmanager
    import CORBA
ImportError: No module named CORBA
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
[31m[hrpsys_py-4] process has died [pid 30407, exit code 1, cmd /home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /h...

[k-okada]

From gm130s on November 22, 2013 18:38:15

...ome/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService name:=hrpsys_py log:=/home/n130s/.ros/log/7b241112-53e6-11e3-92b8-28d24420ab05/hrpsys_py-4.log]. log file: /home/n130s/.ros/log/7b241112-53e6-11e3-92b8-28d24420ab05/hrpsyspy-4.log[0m [31m[hrpsys_state_publisher-7] process has died [pid 30486, exit code 255, cmd /opt/ros/hydro/lib/robot_state_publisher/state_publisher name:=hrpsys_state_publisher __log:=/home/n130s/.ros/log/7b241112-53e6-11e3-92b8-28d24420ab05/hrpsys_state_publisher-7.log]. log file: /home/n130s/.ros/log/7b241112-53e6-11e3-92b8-28d24420ab05/hrpsys_statepublisher-7.log[0m 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 Traceback (most recent call last): File "/home/robouROS/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py", line 8, in import rospy File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/__init.py", line 49, in from .client import spin, myargv, init_node, \ File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 46, in import yaml File "/usr/lib/python2.7/dist-packages/yaml/init.py", line 8, in CORBA::SystemException raised by ModelLoader: qStateROSBridge] use_hrpsys_time[0m [0m[ INFO] [1385173519.182302100]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0[0m CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/COMM_FAILURE:1.0 [HrpsysJointTrajectoryBridge] failed to load model[] omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 CORBA::SystemException raised by ModelLoader: IDL:omg.org/CORBA/INV_OBJREF:1.0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. :

Status: Started

[k-okada]

From kei.ok...@gmail.com on November 22, 2013 18:44:56

make sure that if you have /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl or find directory that contains longfloor.wrl

[k-okada]

From gm130s on November 22, 2013 20:16:52

Very sorry that I forgot to re-source $CATKIN_WS$/devel/setup.*sh after purging debs. Now a robot appears on hrp sim.

Status: Fixed

[k-okada]

From gm130s on November 28, 2013 02:13:15

I'm about to release rtmros_hironx 1.0.6 to include the fix for this issue.