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start-jsk / rtmros_common

OpenRTM - ROS interoperability packages
http://wiki.ros.org/rtmros_common
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rtmlaunch.py fails because it cannot find openrtm_aist #651

Closed garaemon closed 9 years ago

garaemon commented 9 years ago

with latest hrpsys/openrtm configuration (it means without ros package wrapper and built with catkin build), rtmlaunch.py tells following error:

Traceback (most recent call last):
  File "/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 4, in <module>
    roslib.load_manifest('openrtm_tools')
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 98, in _generate_python_path
    packages = get_depends(pkg, rospack) 
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 51, in get_depends
    vals = rospack.get_depends(package, implicit=True)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 236, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 230, in get_depends
    names = [p.name for p in self.get_manifest(name).depends]
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 163, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 207, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 199, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: openrtm_aist
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/geneus
ROS path [2]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/assimp_devel
ROS path [3]=/home/hrpuser/ros/hydro/src/multisense/multisense_description
ROS path [4]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_model_tools/euscollada
ROS path [5]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/rtmbuild
ROS path [6]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_tools
ROS path [7]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/roseus
ROS path [8]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus
ROS path [9]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_tools
ROS path [10]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge
ROS path [11]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials
ROS path [12]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_ros_bridge
ROS path [13]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg-unreleased/jsk_robot/jsk_hrp2_ros_bridge
ROS path [14]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller
ROS path [15]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_ros_patch/image_view2
ROS path [16]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_coordination_system/dynamic_tf_publisher
ROS path [17]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_footstep_msgs
ROS path [18]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_gui_msgs
ROS path [19]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_hark_msgs
ROS path [20]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_recognition_msgs
ROS path [21]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/sklearn
ROS path [22]=/home/hrpuser/ros/hydro/src/view_controller_msgs
ROS path [23]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_topic_tools
ROS path [24]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_pcl_ros
ROS path [25]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins
ROS path [26]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner
ROS path [27]=/opt/ros/hydro/share
ROS path [28]=/opt/ros/hydro/stacks
process[StabilizerServiceROSBridge-15]: started with pid [18099]
[rtmlaunch_hrpsys_ros_bridge-8] process has died [pid 17897, exit code 1, cmd /home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py /home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch USE_COMMON=true USE_WALKING=true USE_COLLISIONCHECK=false USE_IMPEDANCECONTROLLER=true USE_SOFTERRORLIMIT=false USE_IMAGESENSOR=false USE_ROBOTHARDWARE=true USE_GRASPCONTROLLER=false USE_SERVOCONTROLLER=false USE_TORQUECONTROLLER=false USE_TORQUEFILTER=false motor_states:=motor_states_org __name:=rtmlaunch_hrpsys_ros_bridge __log:=/home/hrpuser/.ros/log/901d71ec-ae0a-11e4-b0da-00031d0c7c5c/rtmlaunch_hrpsys_ros_bridge-8.log].
log file: /home/hrpuser/.ros/log/901d71ec-ae0a-11e4-b0da-00031d0c7c5c/rtmlaunch_hrpsys_ros_bridge-8*.log

Is there anybody who can ever successfully launch hrpsys_ros_bridge.launch?

garaemon commented 9 years ago

hrpsys-config.test also fails

$ rostest hrpsys_tools test-hrpsys-config.test 
... logging to /home/hrpuser/.ros/log/rostest-hrp2017v-25128.log
Traceback (most recent call last):
  File "/opt/ros/hydro/bin/rostest", line 53, in <module>
    rostestmain()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/__init__.py", line 268, in rostestmain
    _main()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/rostest_main.py", line 142, in rostestmain
    testCase = rostest.runner.createUnitTest(pkg, test_file)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/runner.py", line 227, in createUnitTest
    config = roslaunch.parent.load_config_default([test_file], _DEFAULT_TEST_PORT)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 638, in _recurse_load
    self._env_tag(tag, context, ros_config)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 491, in _env_tag
    self.load_env(context, ros_config, *self.reqd_attrs(tag, context, XmlLoader.ENV_ATTRS))
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 188, in reqd_attrs
    return [self.resolve_args(tag.attributes[a].value, context) for a in attrs]
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
    return _find_executable(resolve_without_path, a, [args[0], path], context)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 199, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: openrtm_aist
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/geneus
ROS path [2]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/assimp_devel
ROS path [3]=/home/hrpuser/ros/hydro/src/multisense/multisense_description
ROS path [4]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_model_tools/euscollada
ROS path [5]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/rtmbuild
ROS path [6]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_tools
ROS path [7]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/roseus
ROS path [8]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus
ROS path [9]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_tools
ROS path [10]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge
ROS path [11]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials
ROS path [12]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_ros_bridge
ROS path [13]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg-unreleased/jsk_robot/jsk_hrp2_ros_bridge
ROS path [14]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller
ROS path [15]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_ros_patch/image_view2
ROS path [16]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_coordination_system/dynamic_tf_publisher
ROS path [17]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_footstep_msgs
ROS path [18]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_gui_msgs
ROS path [19]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_hark_msgs
ROS path [20]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_recognition_msgs
ROS path [21]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/sklearn
ROS path [22]=/home/hrpuser/ros/hydro/src/view_controller_msgs
ROS path [23]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_topic_tools
ROS path [24]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_pcl_ros
ROS path [25]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins
ROS path [26]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner
ROS path [27]=/opt/ros/hydro/share
ROS path [28]=/opt/ros/hydro/stacks
hrpuser@hrp2017v:~/ros/hydro/src/rtm-ros-robotics/rtmros_common$
garaemon commented 9 years ago

This small test code fails:

<launch>
  <node name="rtcd" pkg="openrtm_aist" type="rtcd" />
</launch>
$ roslaunch ~/hoge.launch 
... logging to /home/hrpuser/.ros/log/0977eb3e-ae0c-11e4-8f38-00031d0c7c5c/roslaunch-hrp2017v-27538.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://hrp2017v:41584/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    rtcd (openrtm_aist/rtcd)

auto-starting new master
process[master]: started with pid [27552]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0977eb3e-ae0c-11e4-8f38-00031d0c7c5c
process[rosout-1]: started with pid [27567]
started core service [/rosout]
ERROR: cannot launch node of type [openrtm_aist/rtcd]: openrtm_aist
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/geneus
ROS path [2]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/assimp_devel
ROS path [3]=/home/hrpuser/ros/hydro/src/multisense/multisense_description
ROS path [4]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_model_tools/euscollada
ROS path [5]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/rtmbuild
ROS path [6]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_tools
ROS path [7]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_roseus/roseus
ROS path [8]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus
ROS path [9]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_tools
ROS path [10]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge
ROS path [11]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials
ROS path [12]=/home/hrpuser/ros/hydro/src/rtm-ros-robotics/rtmros_common/openrtm_ros_bridge
ROS path [13]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg-unreleased/jsk_robot/jsk_hrp2_ros_bridge
ROS path [14]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller
ROS path [15]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_ros_patch/image_view2
ROS path [16]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_coordination_system/dynamic_tf_publisher
ROS path [17]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_footstep_msgs
ROS path [18]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_gui_msgs
ROS path [19]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_hark_msgs
ROS path [20]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_recognition_msgs
ROS path [21]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/3rdparty/sklearn
ROS path [22]=/home/hrpuser/ros/hydro/src/view_controller_msgs
ROS path [23]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_topic_tools
ROS path [24]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_recognition/jsk_pcl_ros
ROS path [25]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins
ROS path [26]=/home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner
ROS path [27]=/opt/ros/hydro/share
ROS path [28]=/opt/ros/hydro/stacks
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
garaemon commented 9 years ago

we need to remove all the

  1. pkg="openrtm_aist"
  2. $(find openrtm_aist)
  3. pkg="hrpsys"
  4. $(find hrpsys)

I'd like to know other robots which uses hrpsys on indigo

k-okada commented 9 years ago

please use deb version of openrtm/openhrp3 for now

garaemon commented 9 years ago

how about hrpsys? use deb version?

✉︎ Ryohei Ueda

On Fri, Feb 6, 2015 at 7:03 AM -0800, "Kei Okada" notifications@github.com wrote:

please use deb version of openrtm/openhrp3 for now

— Reply to this email directly or view it on GitHub.

k-okada commented 9 years ago

I think you're using latest version of hrpsys

garaemon commented 9 years ago

I tried to use latest hrpsys wothout ros package wrapper, but it's not working because it's no longer ros package. I revert the environment to ros-wrappers

✉︎ Ryohei Ueda

On Fri, Feb 6, 2015 at 7:07 AM -0800, "Kei Okada" notifications@github.com wrote:

I think you're using latest version of hrpsys

— Reply to this email directly or view it on GitHub.

k-okada commented 9 years ago

https://github.com/k-okada/jsk_common/commit/aaffd5b74f6bef8d671caefd85a4649c970d5d09 should fix this problem

k-okada commented 9 years ago

also satisfy https://github.com/jsk-ros-pkg/jsk_common/issues/726 request

garaemon commented 9 years ago

k-okada/jsk_common@aaffd5b should fix this problem

Please check your code and merge after testing.

k-okada commented 9 years ago

wait for -> http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jsk.rosbuild/DEBIAN_REPOSITORY=ros,ROS_DISTRO=indigo,TARGET_PACKAGE=jsk-ros-pkg,USE_SOURCE=source,slave=master/583/console

garaemon commented 9 years ago

wait for -> http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jsk.rosbuild/DEBIAN_REPOSITORY=ros,ROS_DISTRO=indigo,TARGET_PACKAGE=jsk-ros-pkg,USE_SOURCE=source,slave=master/583/console

Good! But the jenkins test is not enough. Please run test code.
I'm really nervous and conservative about this topic now.

garaemon commented 9 years ago

Good! But the jenkins test is not enough. Please run test code.

At this momement, I think test in hrpsys_tools and test in hrpsys_ros_bridge are good test code

k-okada commented 9 years ago

if you still have non-catkin hrpsys environment, please check by adding export ROS_PACKAGE_PATH=pwd/devel/share/:$ROS_PACKAGE_PATH and see if this works

◉ Kei Okada

On Sat, Feb 7, 2015 at 2:45 AM, Ryohei Ueda notifications@github.com wrote:

wait for -> http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jsk.rosbuild/DEBIAN_REPOSITORY=ros,ROS_DISTRO=indigo,TARGET_PACKAGE=jsk-ros-pkg,USE_SOURCE=source,slave=master/583/console

Good! But the jenkins test is not enough. Please run test code.

I'm really nervous and conservative about this topic now.

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/651#issuecomment-73280646 .

garaemon commented 9 years ago

if you still have non-catkin hrpsys environment, please check by adding export ROS_PACKAGE_PATH=pwd/devel/share/:$ROS_PACKAGE_PATH and see if this works

oops, I already removed it, however I also came up with this idea but forget to test it...

I will test it tomorrow.

k-okada commented 9 years ago

that's what we do in https://github.com/k-okada/jsk_common/blob/use_catkin_tools/jsk.rosbuild, so it will ready on tomorrow.

◉ Kei Okada

On Sat, Feb 7, 2015 at 2:55 AM, Ryohei Ueda notifications@github.com wrote:

if you still have non-catkin hrpsys environment, please check by adding export ROS_PACKAGE_PATH=pwd/devel/share/:$ROS_PACKAGE_PATH and see if this works

oops, I already removed it, however I also came up with this idea but forget to test it...

I will test it tomorrow.

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/651#issuecomment-73282349 .

130s commented 9 years ago

If this still happens please reopen.

k-okada commented 9 years ago

please explain your setup and error code, also adding test program to reproduce this would be fine.

◉ Kei Okada

On Wed, Sep 16, 2015 at 3:51 PM, Isaac I.Y. Saito notifications@github.com wrote:

If this still happens please reopen.

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/651#issuecomment-140647514 .