Open garaemon opened 9 years ago
Too early to instantiate hcf?
https://s3.amazonaws.com/archive.travis-ci.org/jobs/80775258/log.txt
... logging to /home/travis/.ros/log/rostest-testing-worker-linux-968a87ce-2-20307-linux-2-80775258-13184.log [ROSUNIT] Outputting test results to /home/travis/.ros/test_results/hrpsys_tools/rostest-test_test-pa10.xml omniORB: Failed to bind to address :: port 2809. Address in use? omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2809 Failed to initialise the ORB / POA: INITIALIZE_TransportError Is omniNames already running? ready loading file:///opt/ros/hydro/share/OpenHRP-3.1/sample/project/../model/PA10/pa10.main.wrl Humanoid node Joint node BASE Segment node BASE_LINK Joint node J1 Segment node J1_LINK Joint node J2 Segment node J2_LINK Joint node J3 Segment node J3_LINK Joint node J4 Segment node J4_LINK Joint node J5 Segment node J5_LINK Joint node J6 Segment node J6_LINK Joint node J7 Segment node J7_LINK Joint node HAND_L Segment node HAND_L_LINK Joint node HAND_R Segment node HAND_R_LINK The model was successfully loaded ! Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint configuration ORB with localhost:2809 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for PA10Controller(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x3ac59e0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x3ac59e0> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl loading file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl Humanoid node Joint node BASE Segment node BASE_LINK Joint node J1 Segment node J1_LINK Joint node J2 Segment node J2_LINK Joint node J3 Segment node J3_LINK Joint node J4 Segment node J4_LINK Joint node J5 Segment node J5_LINK Joint node J6 Segment node J6_LINK Joint node J7 Segment node J7_LINK Joint node HAND_L Segment node HAND_L_LINK Joint node HAND_R Segment node HAND_R_LINK The model was successfully loaded ! [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") loading file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl Humanoid node Joint node BASE Segment node BASE_LINK Joint node J1 Segment node J1_LINK Joint node J2 Segment node J2_LINK Joint node J3 Segment node J3_LINK Joint node J4 Segment node J4_LINK Joint node J5 Segment node J5_LINK Joint node J6 Segment node J6_LINK Joint node J7 Segment node J7_LINK Joint node HAND_L Segment node HAND_L_LINK Joint node HAND_R Segment node HAND_R_LINK The model was successfully loaded ! [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x3aa1128> (315.7.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x3b6b290> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x390da70> (315.7.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x3b6cb48> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x3b5ec20> (315.7.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x3b6cd40> [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x3b5e368> (315.7.0) [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x3b6ccb0> [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl [el] Do not load joint limit table [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x3b6f3f8> (315.7.0) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x3b6cb90> [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x3b6fc20> (315.7.0) [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x3b68200> [hrpsys.py] connecting components [rtm.py] Connect sh.qOut - co.qRef [rtm.py] Connect co.q - el.qRef [rtm.py] Connect el.q - HGcontroller0.qIn [rtm.py] Connect HGcontroller0.qOut - PA10Controller(Robot)0.qRef [rtm.py] Connect PA10Controller(Robot)0.servoState - el.servoStateIn [rtm.py] Connect PA10Controller(Robot)0.q - sh.currentQIn [rtm.py] Connect PA10Controller(Robot)0.q - fk.q [rtm.py] Connect sh.qOut - fk.qRef [rtm.py] Connect seq.qRef - sh.qIn [rtm.py] Connect seq.tqRef - sh.tqIn [rtm.py] Connect seq.basePos - sh.basePosIn [rtm.py] Connect seq.baseRpy - sh.baseRpyIn [rtm.py] Connect seq.zmpRef - sh.zmpIn [rtm.py] Connect seq.optionalData - sh.optionalDataIn [rtm.py] Connect sh.basePosOut - seq.basePosInit [rtm.py] Connect sh.basePosOut - fk.basePosRef [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef [rtm.py] Connect sh.qOut - seq.qInit [rtm.py] Connect sh.zmpOut - seq.zmpRefInit [rtm.py] Connect PA10Controller(Robot)0.q - co.qCurrent [rtm.py] Connect PA10Controller(Robot)0.servoState - co.servoStateIn [rtm.py] Connect PA10Controller(Robot)0.q - el.qCurrent [hrpsys.py] activating components pure virtual method called terminate called without an active exception Traceback (most recent call last): File "/home/travis/ros/ws_rtmros_common/install/share/hrpsys_tools/scripts/hrpsys_tools_config.py", line 49, in <module> hcf.init(sys.argv[1], sys.argv[2]) File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2045, in init self.activateComps() File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 491, in activateComps rtm.serializeComponents(rtcList) File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/rtm.py", line 465, in serializeComponents print("[rtm.py] \033[31m error in serialize %s of %s %s\033[0m" % (rtc.name(), [[r, r.name()] for r in rtcs], str(e))) File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/rtm.py", line 169, in name cprof = self.ref.get_component_profile() File "/opt/ros/hydro/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1344, in get_component_profile return _omnipy.invoke(self, "get_component_profile", _0_RTC.RTObject._d_get_component_profile, args) omniORB.CORBA.TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) cache found for file:///opt/ros/hydro/share/OpenHRP-3.1/sample/project/../model/PA10/pa10.main.wrl Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [hrpsys.py] # [hrpsys.py] # use `hcf` as robot interface, for example hcf.getJointAngles() [hrpsys.py] # >> import rostest, unittest >> import time >> time.sleep(5) >> hcf.setJointAngles([10,10,10,10,10,10,10,10,10], 1) Traceback (most recent call last): File "/home/travis/ros/ws_rtmros_common/install/share/hrpsys_tools/scripts/hrpsys_tools_config.py", line 44, in <module> exec(args.c[0]) File "<string>", line 1, in <module> File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 978, in setJointAngles return self.seq_svc.setJointAngles(ret, tm) File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/SequencePlayerService_idl.py", line 137, in setJointAngles return _omnipy.invoke(self, "setJointAngles", _0_OpenHRP.SequencePlayerService._d_setJointAngles, args) omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' testhrpsys_tool_config_interactive ... FAILURE! FAILURE: test [hrpsys_tool_config_interactive] did not generate test results File "/usr/lib/python2.7/unittest/case.py", line 327, in run testMethod() File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/runner.py", line 162, in fn self.assert_(os.path.isfile(test_file), "test [%s] did not generate test results"%test_name) File "/usr/lib/python2.7/unittest/case.py", line 420, in assertTrue raise self.failureException(msg) -------------------------------------------------------------------------------- [ROSTEST]----------------------------------------------------------------------- [testhrpsys_tool_config_interactive][failed] SUMMARY �[1;31m * RESULT: FAIL�[0m * TESTS: 0 * ERRORS: 0 �[1;31m * FAILURES: 1�[0m
maybe pure virtual method called terminate called without an active exception kills hrpsys process
pure virtual method called terminate called without an active exception
Too early to instantiate hcf?
https://s3.amazonaws.com/archive.travis-ci.org/jobs/80775258/log.txt