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start-jsk / rtmros_gazebo

gazebo simulation for rtmros robots
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hrpsys_gazebo_tutorialsのsamplerobot_hrpsys_bringup.launchが動かない #19

Closed core-dump closed 10 years ago

core-dump commented 10 years ago

rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch を実行するとHrpsys Dashboardというウィンドウが現れ、 ターミナル上には 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. 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 と無限に表示され続けてgazeboが上がりません。

garaemon commented 10 years ago

roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch はやっていますか?

core-dump commented 10 years ago

roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launchを実行すると、

... logging to /home/leus/.ros/log/fcdebbdc-aa79-11e3-b625-28d2443200fe/roslaunch-leus-ThinkPad-T440p-20561.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.

Traceback (most recent call last):
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
    p.start()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
    self._start_infrastructure()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
    self._load_config()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
    self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/groovy/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/groovy/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/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 575, in _include_tag
    default_machine, is_core, verbose)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 614, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 240, in _param_tag
    value = self.param_value(verbose, name, ptype, *vals)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/loader.py", line 453, in param_value
    with open(textfile, 'r') as f:
IOError: [Errno 2] No such file or directory: u'/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf'

となって終了してしまいます。

garaemon commented 10 years ago

/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf というファイルはありますか?

ない場合は、rosmake hrpsys_gazebo_totorialsをしてみてください

core-dump commented 10 years ago

そのファイルが存在しなかったのでrosmake hrpsys_gazebo_totorialsを行い、 再びroslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launchしたところ、 Gazeboが立ち上がってサンプルっぽいロボットが表示されました。

ただ、ターミナルに

Error [InsertModelWidget.cc:233] Missing model.config for model
/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/../hrpsys_gazebo_atlas"
Error [InsertModelWidget.cc:233] Missing model.config for model "/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/../hrpsys_gazebo_general"
Error [InsertModelWidget.cc:233] Missing model.config for model "/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/../hrpsys_gazebo_msgs"
Error [InsertModelWidget.cc:233] Missing model.config for model "/home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/../hrpsys_gazebo_tutorials"

というエラーメッセージが出ているのが気になります。

garaemon commented 10 years ago

その状態で他のterminalでrtmlaunch ...をしたらどうなりますか?

core-dump commented 10 years ago

最初の症状とは変わりましたが、まだ上手くいきません。

[ERROR] [WallTime: 1394698353.554627] Could not found CollisionDetector, exiting...
...................[collision_state-25] process has died [pid 6516, exit code 1, cmd /home/leus/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py /home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state __log:=/home/leus/.ros/log/36669282-aa87-11e3-94e6-5c514f55a3a2/collision_state-25.log].
log file: /home/leus/.ros/log/36669282-aa87-11e3-94e6-5c514f55a3a2/collision_state-25*.log

や

[hrpsys.py]  wait for RobotHardware0  :  <hrpsys.rtm.RTcomponent instance at 0x29a2ab8> (timeout  4  < 10)
[hrpsys.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x29a2ab8> isActive? =  False
[hrpsys.py]  simulation_mode :  False
[hrpsys.py]    bodyinfo URL = file:///home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae
loading file:///home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae
Collada Warning: fill asset info
Collada Warning: cannot find instance_actuator for attached sensor SampleRobot:WAIST
The model was successfully loaded !
[hrpsys.py]  creating components
[hrpsys.py]    eval :  [self.seq, self.seq_svc] = self.createComp("SequencePlayer","seq")
loading 
 cannot be found.
Retrying to load the file as a standard VRML file
 cannot be found.
loading failed.
 cannot be found.
ModelLoaderException :  cannot be found.
failed to load model[]
sched_setscheduler: Operation not permitted
If you are running this program on normal linux kernel for debug purpose, you can ignore the error message displayed above. If not, this program must have superuser privilege.
[hrpsys.py]  create Comp ->  SequencePlayer  :  <hrpsys.rtm.RTcomponent instance at 0x28977e8>
[hrpsys.py]  create CompSvc ->  SequencePlayer Service :  <OpenHRP._objref_SequencePlayerService instance at 0x2a97d40>
[hrpsys.py]    eval :  [self.sh, self.sh_svc] = self.createComp("StateHolder","sh")
loading 
 cannot be found.
Retrying to load the file as a standard VRML file
 cannot be found.
loading failed.
 cannot be found.
ModelLoaderException :  cannot be found.
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[hrpsys.py]  create Comp ->  StateHolder  :  None
Traceback (most recent call last):
  File "/home/leus/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_tools/scripts/hrpsys_tools_config.py", line 46, in <module>
    hcf.init(sys.argv[1], sys.argv[2])
  File "/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1164, in init
    self.createComps()
  File "/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 390, in createComps
    exec(create_str)
  File "<string>", line 1, in <module>
  File "/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 376, in createComp
    raise RuntimeError("Cannot create component: " + compName)
RuntimeError: Cannot create component: StateHolder
[hrpsys_py-9] process has died [pid 6042, exit code 1, cmd /home/leus/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_tools/scripts/hrpsys_tools_config.py RobotHardware0 /home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/leus/.ros/log/36669282-aa87-11e3-94e6-5c514f55a3a2/hrpsys_py-9.log].
log file: /home/leus/.ros/log/36669282-aa87-11e3-94e6-5c514f55a3a2/hrpsys_py-9*.log

といったエラーメッセージが出ています。

garaemon commented 10 years ago

@snozawa このエラーに見覚えありますか?

garaemon commented 10 years ago

手元でも環境を作ってみます。 groovy/rosbuildですね？

core-dump commented 10 years ago

はい、groovy/rosbuildです。

garaemon commented 10 years ago

hrpsysの下はどうなっていますか?

以下のコマンドの結果を教えて下さい

find `rospack find hrpsys`
garaemon commented 10 years ago

rtmlaunch ...をするとrtcprofが無いと怒られる

[hrpsys.py]  create Comp ->  Stabilizer  :  <hrpsys.rtm.RTcomponent instance at 0x1d5abd8>
[hrpsys.py]  create CompSvc ->  Stabilizer Service :  <OpenHRP._objref_StabilizerService instance at 0x1dc9518>
[hrpsys.py]    eval :  [self.co, self.co_svc] = self.createComp("CollisionDetector","co")
sh: 1: rtcprof: not found
sh: 1: rtcprof: not found
sh: 1: rtcprof: not found

PATHを通してみる

export PATH=$PATH:`rospack find openrtm_aist`/build/OpenRTM-aist-1.1.0/utils/rtcprof/

CollisionDetectorが無いといわれる

[ERROR] [WallTime: 1394782950.112117] [0.000000] Could not found CollisionDetector, exiting...
[sensor_ros_bridge_connect.py]  connect  rhsensor afs.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor
[rtm.py]    Connect afs.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor
[ERROR] [WallTime: 1394782950.112117] [0.000000] Could not found CollisionDetector, exiting...
[sensor_ros_bridge_connect.py]  connect  lfsensor RobotHardware0.lfsensor HrpsysSeqStateROSBridge0.lfsensor
[rtm.py]    Connect RobotHardware0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor
[sensor_ros_bridge_connect.py]  connect  lfsensor afs.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor
[rtm.py]    Connect afs.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor
[sensor_ros_bridge_connect.py]  connect  rfsensor RobotHardware0.rfsensor HrpsysSeqStateROSBridge0.rfsensor
[rtm.py]    Connect RobotHardware0.rfsensor - HrpsysSeqStateROSBridge0.rfsensor
[sensor_ros_bridge_connect.py]  connect  rfsensor afs.off_rfsensor HrpsysSeqStateROSBridge0.off_rfsensor
[rtm.py]    Connect afs.off_rfsensor - HrpsysSeqStateROSBridge0.off_rfsensor
[sensor_ros_bridge_connect-14] process has finished cleanly
log file: /home/jskuser/.ros/log/dc89eeb6-ab4a-11e3-9f22-a44e3169ce84/sensor_ros_bridge_connect-14*.log
WARNING: Package name "swig-wx" does not follow the naming conventions. It should start with a lower case letter and only contain lower case le
tters, digits and underscores.
[rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch]             to localhost:15005/sh.rtc:StateHolderService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': Non
e, 'verbose': False}
/home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/src/hrpsys_ros_bridge/hrpsys_dashboard.py:33: UserWarning: roslib.ros
env is deprecated, please use rospkg or rosgraph.rosenv
  from roslib import rosenv
[hrpsys.py]  create Comp ->  CollisionDetector  :  None
iob::overrun (0.000000[ms]), w:448.171000 -> 448.171000
iob::overrun (4.000000[ms]), w:448.195000 -> 448.191000
Traceback (most recent call last):
  File "/home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_tools/scripts/hrpsys_tools_config.py", line 46, in <module>
    hcf.init(sys.argv[1], sys.argv[2])
  File "/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1164, in ini
t
    self.createComps()
  File "/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 390, in crea
teComps
    exec(create_str)
  File "<string>", line 1, in <module>
  File "/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 376, in crea
teComp
    raise RuntimeError("Cannot create component: " + compName)
RuntimeError: Cannot create component: CollisionDetector
iob::overrun (4.000000[ms]), w:448.205000 -> 448.201000
[hrpsys_py-8] process has died [pid 9407, exit code 1, cmd /home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_tools/scripts/hrpsys_
tools_config.py RobotHardware0 /home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/
SampleRobot.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/jskuser/.ros/log/dc89eeb6-ab4a
-11e3-9f22-a44e3169ce84/hrpsys_py-8.log].
log file: /home/jskuser/.ros/log/dc89eeb6-ab4a-11e3-9f22-a44e3169ce84/hrpsys_py-8*.log
[collision_state-24] process has died [pid 10248, exit code 1, cmd /home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/sc
ripts/collision_state.py /home/jskuser/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/Sample
Robot.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state __log:=/home/jskuser/.ros/log/dc89eeb6-ab4a
-11e3-9f22-a44e3169ce84/collision_state-24.log].
log file: /home/jskuser/.ros/log/dc89eeb6-ab4a-11e3-9f22-a44e3169ce84/collision_state-24*.log
core-dump commented 10 years ago 
$ find `rospack find hrpsys` | wc
   3655    3655  460841

ものすごく長いので躊躇われるのですが、結果を全部載せた方がいいですか？

garaemon commented 10 years ago

そのしたのshareだけ教えてください

2014年3月14日金曜日、core-dumpnotifications@github.comさんは書きました:

$ find rospack find hrpsys | wc 3655 3655 460841

ものすごく長いので躊躇われるのですが、結果を全部載せた方がいいですか？

— Reply to this email directly or view it on GitHubhttps://github.com/start-jsk/rtmros_gazebo/issues/19#issuecomment-37625759 .

from iPhone

core-dump commented 10 years ago

このようになりました。

$ find `rospack find hrpsys` | grep share/
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.xml
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.conf
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/warmup_y.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/walk2m.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/bow.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/warmup_r.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/rotate_waist.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/data/hear.pos
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/HRP4C.sh
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/HRP4C/rtc.conf
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/simTest4.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/simTest3.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/simTest1.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/PA10.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/hrpsys.sh
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/PA10simulation.xml
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/PA10.conf
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/PA10monitor.xml
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/RobotHardware.conf
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/PA10/rtc.conf
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/simTest5.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/samples/simTest2.py
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/HRPDataTypes.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/Img.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/ServoControllerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/StateHolderService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/TimeKeeperService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/WavPlayerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/SoftErrorLimiterService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/OGMap3DService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/DataLoggerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/StabilizerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/KalmanFilterService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/CollisionDetectorService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/ExecutionProfileService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/TorqueControllerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/pointcloud.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/TorqueFilterService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/AutoBalancerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/ImpedanceControllerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/RobotHardwareService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/NullService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/GraspControllerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/ForwardKinematicsService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/SequencePlayerService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/AbsoluteForceSensorService.idl
/home/leus/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/VirtualForceSensorService.idl
garaemon commented 10 years ago

なるほど、コンパイル自体は通っていそうですね

rosbuild環境が壊れてるのかもしれない。

引き続き調べてみます

garaemon commented 10 years ago

rosmakeでCollisionDetector.soが出来ない気がしてます

rosmakeのとき

$ find . -name '*.so' | grep -i colli
./rtmros_common/hrpsys_ros_bridge/idl_gen/lib/libCollisionDetectorServiceSkel.so
./rtmros_common/hrpsys_ros_bridge/idl_gen/lib/libCollisionDetectorServiceStub.so
./openrtm_common/openhrp3/build/OpenHRP-3.1/lib/libhrpCollision-3.1.so
./openrtm_common/openhrp3/lib/libhrpCollision-3.1.so

catkinのとき(https://github.com/start-jsk/rtmros_common/pull/353 のパッチが必要)

./build/rtm-ros-robotics/openrtm_common/hrpsys/build/hrpsys-base/lib/CollisionDetector.so
./build/rtm-ros-robotics/openrtm_common/openhrp3/build/OpenHRP-3.1/lib/libhrpCollision-3.1.so
./src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/idl_gen/lib/libCollisionDetectorServiceSkel.so
./src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/idl_gen/lib/libCollisionDetectorServiceStub.so
./src/rtm-ros-robotics/openrtm_common/hrpsys/lib/CollisionDetector.so
./devel/lib/libhrpCollision-3.1.so
garaemon commented 10 years ago

catkinだと動く

$ roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch
$ rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch
$ rosrun rviz rviz
garaemon commented 10 years ago

groovy/catkinでeus, gazebo, hrpsysの組み合わせが動くことを確認

rosbuildだとPATHが通ってないとかそんな感じの問題に見える

screenshot_from_2014-03-14 19 35 24

garaemon commented 10 years ago

@core-dump とりあえず動かすなら、hydro/catkinで試すのが一番早いかもです。

wget -q -O /tmp/jsk.rosbuild https://raw.github.com/jsk-ros-pkg/jsk_common/master/jsk.rosbuild
bash /tmp/jsk.rosbuild hydro
cd ~/ros/hydro/src
wstool merge https://rtm-ros-robotics.googlecode.com/svn/trunk/agentsystem_ros_tutorials/rtm-ros-robotics.rosinstall
wstool update -j10
cd ..
source devel/setup.bash
catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials
snozawa commented 10 years ago 
loading
  cannot be found

とでてるので、RTCの中のonInitialize(初期化)でVRMLやCOLLADAのモデルが読み込めてないです。

エラーの見方としては、

[hrpsys.py]    eval :  [self.seq, self.seq_svc] = self.createComp("SequencePlayer","seq")
loading
 cannot be found.

の部分は、SequencePlayer RTCをつくろうとして、その中のonInitializeでこけています。

一方、

[hrpsys.py]    bodyinfo URL = file:///home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae
loading file:///home/leus/ros/groovy/rtm-ros-robotics/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/SampleRobot/hrpsys/SampleRobot.dae
Collada Warning: fill asset info
Collada Warning: cannot find instance_actuator for attached sensor SampleRobot:WAIST
The model was successfully loaded !

をみるとhrpsys.pyの中でModelLoaderを使う部分では、 SampleRobot.daeというロボットモデルがよみこまれれてます。

ですので、daeの変換はおこなえていて読み込むこともできているけど、 rtcd上で動くRTCの中で読み込むことができてないのが原因のようです。

RTCの中ではSampleRobot.confというファイルをよみこんでモデル読み込み先のパスを 指定しているのですが、このSampleRobot.confファイルがあるか確認してみてください。

@core-dump また、

rtmlaunch hrpsys_ros_bridge_tutorials samplerobot_startup.launch

はうごいてますか？ これはgazeboでなくhrpsys-simulatorのサンプルですが、 これもrtcd上でRTCを立ち上げる点やおよびSampleRobot.confがよめてるかなどの 確認ができる点は同じです。

garaemon commented 10 years ago 
rtmlaunch hrpsys_ros_bridge_tutorials samplerobot_startup.launch

最近の変更で、rosbuildでこれが動くようになった気がします

garaemon commented 10 years ago 
rtmlaunch hrpsys_ros_bridge_tutorials samplerobot_hrpsys_bringup.launch

も動くようになってますね