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OpenRTM - ROS interoperability packages
http://wiki.ros.org/rtmros_common
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(hironx, Hydro, Raring) Robot not showing on RViz #267

Closed k-okada closed 10 years ago

k-okada commented 10 years ago

From gm130s on November 23, 2013 18:32:29

With issue #266 fixed, and with r6153 , debs () are removed.

Robot's side:

catkinws$ sudo apt-get purge ros-hydro-openrtm-aist
catkinws$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch 

Sat Nov 23 18:10:50 2013:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e312e313400009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001a719052010018d4
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
[31mWARNING: unrecognized tag rtconnect[0m
:
[31mWARNING: unrecognized tag rtactivate[0m
:
ready
loading file:///home/rosu/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
:
loading /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
The model was successfully loaded ! 
loading /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
loading file:///home/rosu/hydro_raring/catkinws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint nodeWAIST
  Segment node BODY
The model was successfully loaded ! 
[31m[ERROR] [1385197856.861970862]: 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] [1385197856.864343297]: Could not generate robot model[0m
[31m[ERROR] [1385197856.865328693]: Failed to extract kdl tree from xml robot description[0m
Collada Warning: fill asset info
Collada Warning: generate normals from vertices
:
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/rosu/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/rosu/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/rosu/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 683, in init
    self.waitForRTCManagerAndRoboHardware(robotname)
  File "/home/rosu/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 496, in waitForRTCManagerAndRoboHardware
    self.waitForRTCManager(managerhost)
  File "/home/rosu/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 459, in waitForRTCManager
    self.ms = rtm.findRTCmanager(managerhost)
  File "/home/rosu/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
:
[31m[hrpsys_state_publisher-7] process has died [pid 6492, exit code 255, cmd /opt/ros/hydro/lib/robot_state_publisher/state_publisher __name:=hrpsys_state_publisher __log:=/home/n130s/.ros/log/25aed71a-541f-11e3-b6d7-28d24420ab05/hrpsys_state_publisher-7.log].
log file: /home/n130s/.ros/log/25aed71a-541f-11e3-b6d7-28d24420ab05/hrpsys_state_publisher-7*.log[0m
[31m[hrpsys_py-4] process has died [pid 6415, exit code 1, cmd /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /home/rosu/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/25aed71a-541f-11e3-b6d7-28d24420ab05/hrpsys_py-4.log].
log file: /home/n130s/.ros/log/25aed71a-541f-11e3-b6d7-28d24420ab05/hrpsys_py-4*.log[0m
The model was successfully loaded ! 
Warning: Model HiroNX has empty joint ID in the valid IDs.
cache found for /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[31mERROR: cannot launch node of type [diagnostic_aggregator/aggregator_node]: diagnostic_aggregator
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/rosu/hydro_raring/catkinws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks[0m
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
Traceback (most recent call last):
  File "/home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 85, in <module>
    rtc_init()
  File "/home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 27, in rtc_init
    ms = rtm.findRTCmanager(rtm.nshost)
  File "/home/rosu/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 333, in findRTCmanager
    import CORBA
ImportError: No module named CORBA
The model was successfully loaded ! 
[33m[ WARN] [1385197856.076918469]: [HrpsysSeqStateROSBridge] use_hrpsys_time[0m
[0m[ INFO] [1385197856.135839337]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0[0m
Warning: Model HiroNX has empty joint ID in the valid IDs.
cache found for /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[31m[hrpsys_profile-9] process has died [pid 6517, exit code 1, cmd /home/rosu/hydro_raring/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_profile __log:=/home/n130s/.ros/log/25aed71a-541f-11e3-b6d7-28d24420ab05/hrpsys_profile-9.log].
log file: /h...

Original issue: http://code.google.com/p/rtm-ros-robotics/issues/detail?id=269

k-okada commented 10 years ago

From kei.ok...@gmail.com on November 23, 2013 01:57:49

we have to wait until new robot_model release for this problem, or set urdf to robot_description

k-okada commented 10 years ago

From gm130s on November 28, 2013 08:29:33

Still persists with ros-hydro-hironx-ros-bridge_1.0.6-0raring-20131128-1051-+0000. On Precise this doesn't occur. Something might be missing on my Raring.

k-okada commented 10 years ago

From gm130s on December 29, 2013 02:40:06

Not seen these days. Closing.

Status: Invalid