k-okada
commented
10 years ago connect_port の引数はopenrtmの１．１．０と，１.0.0で違うのですが以下の部分で対応してあるはずです．確認してみて下さい．
Closed 130s closed 10 years ago
k-okada
commented
10 years ago connect_port の引数はopenrtmの１．１．０と，１.0.0で違うのですが以下の部分で対応してあるはずです．確認してみて下さい．
130s
commented
10 years ago More log. HrpsysSeqStateROSBridge seems to be failing to start but not sure how it's related to connect_ports error.
$ 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
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=hydro
ROS_ETC_DIR=/opt/ros/hydro/etc/ros
tork@fuji:~/ros_tmp/cws$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
... logging to /home/tork/.ros/log/0616a6d6-9f87-11e3-9711-00259093db68/roslaunch-fuji-13616.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://fuji:54050/
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
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_profile (hrpsys_ros_bridge/hrpsys_profile.py)
hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
hrpsys_state_publisher (robot_state_publisher/state_publisher)
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 [13630]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0616a6d6-9f87-11e3-9711-00259093db68
process[rosout-1]: started with pid [13643]
started core service [/rosout]
process[HrpsysSeqStateROSBridge-2]: started with pid [13655]
process[HrpsysJointTrajectoryBridge-3]: started with pid [13663]
process[hrpsys_state_publisher-4]: started with pid [13686]
process[hrpsys_ros_diagnostics-5]: started with pid [13707]
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393488803.162703312]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_profile-6]: started with pid [13712]
process[diagnostic_aggregator-7]: started with pid [13715]
process[sensor_ros_bridge_connect-8]: started with pid [13738]
process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [13785]
process[SequencePlayerServiceROSBridge-10]: started with pid [13799]
[sensor_ros_bridge_connect.py] start
configuration ORB with hiro023 : 15005
process[DataLoggerServiceROSBridge-11]: started with pid [13837]
process[ForwardKinematicsServiceROSBridge-12]: started with pid [13879]
process[StateHolderServiceROSBridge-13]: started with pid [13911]
[rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
[ INFO] [1393488803.570707171]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393488803.707502882]: [HrpsysSeqStateROSBridge] Loaded main_nohHands
[ INFO] [1393488803.710178570]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for RTCmanager : hiro023
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x20a8a70> (timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x20a8a70>
[sensor_ros_bridge_connect.py] simulation_mode : False
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch] to hiro023:15005/sh.rtc:StateHolderService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x20a8ea8>
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[sensor_ros_bridge_connect-8] process has finished cleanly
log file: /home/tork/.ros/log/0616a6d6-9f87-11e3-9711-00259093db68/sensor_ros_bridge_connect-8*.log
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService
[rtmlaunch] to hiro023:15005/log.rtc:DataLoggerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
[rtmlaunch] to hiro023:15005/fk.rtc:ForwardKinematicsService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysSeqStateROSBridge0.rtc
[ WARN] [1393488810.871905517]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysJointTrajectoryBridge0.rtc
[ INFO] [1393488811.056625209]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1393488811.056753365]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[ INFO] [1393488811.090584856]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1393488811.090699791]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[ INFO] [1393488811.124631270]: ADD_GROUP: head (/head_controller)
[ INFO] [1393488811.124719502]: JOINT: HEAD_JOINT0 HEAD_JOINT1
[ INFO] [1393488811.153114683]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1393488811.153187062]: JOINT: CHEST_JOINT0
[ INFO] [1393488811.186398828]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1393488811.186497627]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[ INFO] [1393488811.221283098]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1393488811.221377107]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[rtmlaunch] Activate <- Inactive /hiro023:15005/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/StateHolderServiceROSBridge.rtc
[ WARN] [1393488815.872272032]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393488820.872556955]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393488825.873140854]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
^C[StateHolderServiceROSBridge-13] killing on exit
[ForwardKinematicsServiceROSBridge-12] killing on exit
[DataLoggerServiceROSBridge-11] killing on exit
[SequencePlayerServiceROSBridge-10] killing on exit
[rtmlaunch_hrpsys_ros_bridge-9] killing on exit
[diagnostic_aggregator-7] killing on exit
[hrpsys_profile-6] killing on exit
[hrpsys_ros_diagnostics-5] killing on exit
[hrpsys_state_publisher-4] killing on exit
[HrpsysJointTrajectoryBridge-3] killing on exit
omniORB: Caught an unexpected Python exception during up-call.
Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1201, in __init__
def __init__(self):
KeyboardInterrupt
[rtmlaunch] [ERROR] Could not Connect ( /hiro023:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService , /hiro023:15005/seq.rtc:SequencePlayerService ): CORBA.UNKNOWN(omniORB.UNKNOWN_PythonException, CORBA.COMPLETED_MAYBE)
[ INFO] [1393488827.016871222]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[ INFO] [1393488827.039651274]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
[ INFO] [1393488827.072809602]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[ INFO] [1393488827.089136968]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
[ INFO] [1393488827.106814153]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
[ INFO] [1393488827.123653751]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutex_t*): Assertion `!pthread_mutex_lock(m)' failed.
[HrpsysSeqStateROSBridge-2] killing on exit
[ INFO] [1393488827.320139089]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
[rtmlaunch] Could not Activate ( hiro023:15005/HrpsysSeqStateROSBridge0.rtc ) : CosNaming.NamingContext.NotFound(why=missing_node, rest_of_name=[CosNaming.NameComponent(id='HrpsysJointTrajectoryBridge0', kind='rtc')]) HrpsysSeqStateROSBridge seems to be failing to start
これは何処でそう見えるでしょうか？ 多分， "/usr/local/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py" ですね．古いopenrtmが何処かに入っています．
130s
commented
10 years ago Hmm,,,thank you. Now I've removed openrtm-aist (1.1.0) and openrtm-aist-grx (1.0.0), the RTC_idl.py error is gone but still get the same [rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given).
$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
... logging to /home/tork/.ros/log/ead41c26-9f8d-11e3-a2a2-00259093db68/roslaunch-fuji-20315.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://fuji:43952/
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
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_profile (hrpsys_ros_bridge/hrpsys_profile.py)
hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
hrpsys_state_publisher (robot_state_publisher/state_publisher)
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 [20329]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ead41c26-9f8d-11e3-a2a2-00259093db68
process[rosout-1]: started with pid [20342]
started core service [/rosout]
process[HrpsysSeqStateROSBridge-2]: started with pid [20354]
process[HrpsysJointTrajectoryBridge-3]: started with pid [20375]
process[hrpsys_state_publisher-4]: started with pid [20394]
process[hrpsys_ros_diagnostics-5]: started with pid [20406]
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393491763.938531239]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_profile-6]: started with pid [20411]
process[diagnostic_aggregator-7]: started with pid [20414]
process[sensor_ros_bridge_connect-8]: started with pid [20437]
process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [20476]
process[SequencePlayerServiceROSBridge-10]: started with pid [20498]
[sensor_ros_bridge_connect.py] start
configuration ORB with hiro023 : 15005
process[DataLoggerServiceROSBridge-11]: started with pid [20550]
[ INFO] [1393491764.311580469]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
process[ForwardKinematicsServiceROSBridge-12]: started with pid [20609]
[rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
process[StateHolderServiceROSBridge-13]: started with pid [20639]
[rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393491764.408643276]: [HrpsysSeqStateROSBridge] Loaded main_nohHands
[ INFO] [1393491764.411516444]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for RTCmanager : hiro023
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x12d8a70> (timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x12d8a70>
[sensor_ros_bridge_connect.py] simulation_mode : False
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch] to hiro023:15005/sh.rtc:StateHolderService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x7f0f9d200b48>
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[sensor_ros_bridge_connect-8] process has finished cleanly
log file: /home/tork/.ros/log/ead41c26-9f8d-11e3-a2a2-00259093db68/sensor_ros_bridge_connect-8*.log
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService
[rtmlaunch] to hiro023:15005/log.rtc:DataLoggerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
[rtmlaunch] to hiro023:15005/fk.rtc:ForwardKinematicsService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysSeqStateROSBridge0.rtc
[ WARN] [1393491771.576088870]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysJointTrajectoryBridge0.rtc
[ INFO] [1393491771.761601881]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1393491771.761722809]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[ INFO] [1393491771.792570333]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1393491771.792676251]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[ INFO] [1393491771.821982411]: ADD_GROUP: head (/head_controller)
[ INFO] [1393491771.822073023]: JOINT: HEAD_JOINT0 HEAD_JOINT1
[ INFO] [1393491771.852136258]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1393491771.852223037]: JOINT: CHEST_JOINT0
[ INFO] [1393491771.883006387]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1393491771.883099003]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[ INFO] [1393491771.913716833]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1393491771.913817095]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[rtmlaunch] Activate <- Inactive /hiro023:15005/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/StateHolderServiceROSBridge.rtc
[ WARN] [1393491776.576367380]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491781.576732474]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491786.577089185]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491791.577797126]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491796.578383999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491801.578864470]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491806.579143372]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491811.579771604]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491816.580118934]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491821.580691444]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491826.581386407]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491831.581725163]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491836.582078165]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491841.582703100]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491846.582892452]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491851.583505832]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491856.584138193]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491861.584384119]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[ WARN] [1393491866.584714146]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491871.585050443]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491876.585652681]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491881.586375873]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393491886.586599573]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491891.586931424]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491896.587425957]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393491901.587699288]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOutいや，そうではなくて，apt外でいれた/usr/local のパッケージが残っています．aptで入れると/opt/ros以下にopenrtmができますよね．
130s
commented
10 years ago I see now at least 2 directories exist:
/usr/local/OpenRTM-aist/1.0
/usr/local/lib/python2.7/dist-packages/OpenRTM_aist/I moved those but the log doesn't seem to have changed.
k-okada
commented
10 years ago /usr/local/bin, /usr/local/lib などいろいろあるはずです．そもそも/usr/local/lib/python2.7を見ている時点で，PYTHONPATHがおかしいはず，とすると， echo $PATH echo $PYTHONPATH echo $LD_LIBRARY_PATH をで確認です．
確実なのは.bashrcを/etc/skel/.bashrc に一回置き換えてクリーンな状態にすることです．
k-okada
commented
10 years ago あとは， mv /usr/local /usr/local.bak とすることでしょうか．
130s
commented
10 years ago No progress..
$ echo $PYTHONPATH
/home/tork/ros_tmp/cws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages
$ echo $PATH
/home/tork/ros_tmp/cws/devel/bin:/opt/ros/hydro/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
$ echo $LD_LIBRARY_PATH
/home/tork/ros_tmp/cws/devel/lib:/opt/ros/hydro/lib
$ ls ~/ros_tmp/cws/src
CMakeLists.txt rtmros_hironx
$ locate RTC_idl.py
/home/ais/software/OpenRTM-aist-Python-1.0.0/OpenRTM_aist/RTM_IDL/RTC_idl.py
/home/ais/software/OpenRTM-aist-Python-1.0.0/build/lib.linux-x86_64-2.7/OpenRTM_aist/RTM_IDL/RTC_idl.py
/home/ais/software/OpenRTM-aist-Python-1.1.0/OpenRTM_aist/RTM_IDL/RTC_idl.py
/home/ais/software/OpenRTM-aist-Python-1.1.0/build/lib.linux-x86_64-2.7/OpenRTM_aist/RTM_IDL/RTC_idl.py
/home/ais/software/rtctree/build/lib.linux-x86_64-2.7/rtctree/rtmidl/RTC_idl.py
/home/ais/software/rtctree/rtctree/rtmidl/RTC_idl.py
/opt/ros/hydro/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py
/opt/ros/hydro/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.pyc
tork@fuji:~$ locate rtmlaunch.py
/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.pyx mv /usr/local /usr/local.bk x mv /home/ais/software . x mv /opt/grx /opt/grx.bk
k-okada
commented
10 years ago それでもう一回
$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
した時のlogは何になりますか？
また，/home/tok/ros_tmp/cws/src 以下は何になりますか？
130s
commented
10 years ago $ ls /usr/
bin games include lib lib32 local.bk sbin share src
$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
... logging to /home/tork/.ros/log/637a76a8-9f9c-11e3-8cb5-00259093db68/roslaunch-fuji-7787.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://fuji:49708/
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
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_profile (hrpsys_ros_bridge/hrpsys_profile.py)
hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
hrpsys_state_publisher (robot_state_publisher/state_publisher)
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 [7801]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 637a76a8-9f9c-11e3-8cb5-00259093db68
process[rosout-1]: started with pid [7814]
started core service [/rosout]
process[HrpsysSeqStateROSBridge-2]: started with pid [7826]
process[HrpsysJointTrajectoryBridge-3]: started with pid [7844]
process[hrpsys_state_publisher-4]: started with pid [7866]
process[hrpsys_ros_diagnostics-5]: started with pid [7878]
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393497979.365314466]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_profile-6]: started with pid [7883]
process[diagnostic_aggregator-7]: started with pid [7886]
process[sensor_ros_bridge_connect-8]: started with pid [7911]
process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [7953]
process[SequencePlayerServiceROSBridge-10]: started with pid [7975]
[sensor_ros_bridge_connect.py] start
configuration ORB with hiro023 : 15005
process[DataLoggerServiceROSBridge-11]: started with pid [8032]
process[ForwardKinematicsServiceROSBridge-12]: started with pid [8066]
[ INFO] [1393497979.752492468]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
process[StateHolderServiceROSBridge-13]: started with pid [8110]
[rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393497979.863097712]: [HrpsysSeqStateROSBridge] Loaded main_nohHands
[ INFO] [1393497979.866348636]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for RTCmanager : hiro023
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x1c82a70> (timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x1c82a70>
[sensor_ros_bridge_connect.py] simulation_mode : False
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch] to hiro023:15005/sh.rtc:StateHolderService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x1c89098>
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[sensor_ros_bridge_connect-8] process has finished cleanly
log file: /home/tork/.ros/log/637a76a8-9f9c-11e3-8cb5-00259093db68/sensor_ros_bridge_connect-8*.log
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService
[rtmlaunch] to hiro023:15005/log.rtc:DataLoggerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
[rtmlaunch] to hiro023:15005/seq.rtc:SequencePlayerService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro023:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
[rtmlaunch] to hiro023:15005/fk.rtc:ForwardKinematicsService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysSeqStateROSBridge0.rtc
[ WARN] [1393497987.646515272]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysJointTrajectoryBridge0.rtc
[ INFO] [1393497987.830069644]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1393497987.830182799]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[ INFO] [1393497987.865106831]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1393497987.865270236]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[ INFO] [1393497987.897163764]: ADD_GROUP: head (/head_controller)
[ INFO] [1393497987.897273756]: JOINT: HEAD_JOINT0 HEAD_JOINT1
[ INFO] [1393497987.929578982]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1393497987.929697683]: JOINT: CHEST_JOINT0
[ INFO] [1393497987.959121765]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1393497987.959223037]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[ INFO] [1393497987.989558965]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1393497987.989654544]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[rtmlaunch] Activate <- Inactive /hiro023:15005/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro023:15005/StateHolderServiceROSBridge.rtc
[ WARN] [1393497992.647040888]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393497997.647466468]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393498002.647780542]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393498007.648500734]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393498012.649207592]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1393498017.649821372]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393498022.650286639]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393498027.650566152]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
^C[StateHolderServiceROSBridge-13] killing on exit
[ForwardKinematicsServiceROSBridge-12] killing on exit
[DataLoggerServiceROSBridge-11] killing on exit
[SequencePlayerServiceROSBridge-10] killing on exit
[rtmlaunch_hrpsys_ros_bridge-9] killing on exit
[diagnostic_aggregator-7] killing on exit
[hrpsys_profile-6] killing on exit
[hrpsys_ros_diagnostics-5] killing on exit
[hrpsys_state_publisher-4] killing on exit
[HrpsysJointTrajectoryBridge-3] killing on exit
Traceback (most recent call last):
File "/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py", line 208, in <module>
main()
File "/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py", line 200, in main
time.sleep(10)
KeyboardInterrupt
[ INFO] [1393498031.052582351]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[ INFO] [1393498031.066617627]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
[ INFO] [1393498031.073016516]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[ INFO] [1393498031.088253168]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
[ INFO] [1393498031.113632391]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
[ INFO] [1393498031.127096233]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
[HrpsysSeqStateROSBridge-2] killing on exit
[ INFO] [1393498031.153834174]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutex_t*): Assertion `!pthread_mutex_lock(m)' failed.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done.bashrc should be clean enough since this user is just created today.
k-okada
commented
10 years ago /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py は以下のようになっていますか？
113 try :
114 rtcon.connect_ports(source_path, source_full_path, dest_ 114 path, dest_full_path, options, tree=None)
115 except Exception, e: # openrtm 1.1.0
116 rtcon.connect_ports([(source_path,source_full_path), (de 116 st_path, dest_full_path)], options, tree=None)connect_portsはrtcon.pyで定義されているので，locate rtcon.pyでしょうか．
130s
commented
10 years ago $ locate rtcon.py
/opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.py
/opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.pyc
$ more /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py
:
def rtconnect(nameserver, tags):
import re
for tag in tags:
# check if/unless attribute in rtconnect tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
source_path = nameserver+"/"+tag.attributes.get("from").value
dest_path = nameserver+"/"+tag.attributes.get("to").value
source_path = re.sub("\$\(arg SIMULATOR_NAME\)",simulator,source_path);
dest_path = re.sub("\$\(arg SIMULATOR_NAME\)",simulator,dest_path);
# print >>sys.stderr, "[rtmlaunch] Connecting from %s to %s"%(source_path,dest_path)
source_full_path = path.cmd_path_to_full_path(source_path)
dest_full_path = path.cmd_path_to_full_path(dest_path)
if tag.attributes.get("subscription_type") != None:
sub_type = tag.attributes.get("subscription_type").value
if not sub_type in ['flush','new','periodic']:
print >>sys.stderr, sub_type+' is not a subscription type'
continue
else:
sub_type = 'flush' # this is default value
if sub_type == 'new':
push_policy = 'all'
# wait for proess
try:
wait_component(source_full_path)
wait_component(dest_full_path)
if check_connect(source_full_path,dest_full_path):
continue
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] [ERROR] Could not Connect (', source_full_path, ',', dest_full_path, '): ', e,'\033[0m'
return 1
#print source_path, source_full_path, dest_path, dest_full_path;
try:
sub_type = str(sub_type)
props = {'dataport.subscription_type': sub_type}
if sub_type == 'new':
props['dataport.publisher.push_policy'] = 'all'
elif sub_type == 'periodic':
props['dataport.publisher.push_policy'] = 'all'
if tag.attributes.get("push_rate") != None:
props['dataport.push_rate'] = str(tag.attributes.get("push_rate").value)
else:
props['dataport.push_rate'] = str('50.0')
options = optparse.Values({'verbose': False, 'id': '', 'name': None, 'properties': props})
print >>sys.stderr, "[rtmlaunch] Connected from",source_path
print >>sys.stderr, "[rtmlaunch] to",dest_path
print >>sys.stderr, "[rtmlaunch] with",options
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, tree=None)
except Exception, e: # openrtm 1.1.0
rtcon.connect_ports([(source_path,source_full_path), (dest_path, dest_full_path)], options, tree=None)
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] {0}: {1}'.format(os.path.basename(sys.argv[1]), e),'\033[0m'
return 0Btw this connect_ports() error doesn't happen with:
$ source `rospack find openrtm_tools`/scripts/rtshell-setup.sh
$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch $ grep connect_ports -A 3 /opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.py
def connect_ports(source_cmd_path, source_full_path,
dest_cmd_path, dest_full_path,
options, tree=None):
source_path, source_port = rtctree.path.parse_path(source_full_path)
--
connect_ports(source_path, source_full_path, dest_path, dest_full_path,
options, tree=tree)
except Exception, e:
if options.verbose:は同じでしょうか？
k-okada
commented
10 years ago rtcon.pyで
print >>sys.stderr, "[rtmlaunch] with",options
print >>sys.stderr, rtcon
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, tree=None)
とすると，以下の表示になりますか？
<module 'rtshell.rtcon' from '/opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.pyc'>
130s
commented
10 years ago $ grep connect_ports -A 3 /opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.py
def connect_ports(source_cmd_path, source_full_path,
dest_cmd_path, dest_full_path,
options, tree=None):
source_path, source_port = rtctree.path.parse_path(source_full_path)
--
connect_ports(source_path, source_full_path, dest_path, dest_full_path,
options, tree=tree)
except Exception, e:
if options.verbose: 115 except Exception, e: # openrtm 1.1.0
116 rtcon.connect_ports([(source_path,source_full_path), (de 116 st_path, dest_full_path)], options, tree=None)で， １１５業の後に print >> sys.stderr, "error, ", e をしたいですね．
k-okada
commented
10 years ago rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
は上がりますか？
130s
commented
10 years ago k-okada
commented
10 years ago であれば，rtcon.pyの１１５行の後に print >> sys.stderr, "error, ", e と rtcat -l localhost:15005/HrpsysSeqStateROSBridge0.rtc でしょうか．
130s
commented
10 years ago rtcon.pyで
print >>sys.stderr, "[rtmlaunch] with",options
print >>sys.stderr, rtcon
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, d\
est_full_path, options, tree=None)
とすると，以下の表示になりますか？
<module 'rtshell.rtcon' from '/opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.pyc'>Nope, nothing in the output changed. Maybe python path is wrong..?
$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
... logging to /home/tork/.ros/log/603b5fac-9fa1-11e3-8765-00259093db68/roslaunch-fuji-16739.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://fuji:40782/
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
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_profile (hrpsys_ros_bridge/hrpsys_profile.py)
hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
hrpsys_state_publisher (robot_state_publisher/state_publisher)
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 [16753]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 603b5fac-9fa1-11e3-8765-00259093db68
process[rosout-1]: started with pid [16766]
started core service [/rosout]
process[HrpsysSeqStateROSBridge-2]: started with pid [16778]
process[HrpsysJointTrajectoryBridge-3]: started with pid [16797]
process[hrpsys_state_publisher-4]: started with pid [16818]
process[hrpsys_ros_diagnostics-5]: started with pid [16830]
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393500121.410979520]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_profile-6]: started with pid [16835]
process[diagnostic_aggregator-7]: started with pid [16838]
process[sensor_ros_bridge_connect-8]: started with pid [16864]
process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [16904]
process[SequencePlayerServiceROSBridge-10]: started with pid [16930]
[sensor_ros_bridge_connect.py] start
configuration ORB with hiro023 : 15005
process[DataLoggerServiceROSBridge-11]: started with pid [16963]
process[ForwardKinematicsServiceROSBridge-12]: started with pid [17013]
[ INFO] [1393500121.811151752]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
process[StateHolderServiceROSBridge-13]: started with pid [17051]
[rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1393500121.928760347]: [HrpsysSeqStateROSBridge] Loaded main_nohHands
[ INFO] [1393500121.931059910]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for RTCmanager : hiro023
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x22dba70> (timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x22dba70>
[sensor_ros_bridge_connect.py] simulation_mode : False
[rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch] to hiro023:15005/sh.rtc:StateHolderService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x22bc368>
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[sensor_ros_bridge_connect-8] process has finished cleanly
log file: /home/tork/.ros/log/603b5fac-9fa1-11e3-8765-00259093db68/sensor_ros_bridge_connect-8*.log
[rtmlaunch] Connected from hiro023:15005/sh.rtc:baseTformOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given) したら， /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py で，行頭にprintを入れて，このファイルが呼ばれているか確認でしょうか？
130s
commented
10 years ago /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py
で，行頭にprintを入れて，このファイルが呼ばれているか確認でしょうか？Doesn't print...
$ locate rtmlaunch.py
/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py$ more /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py
#!/usr/bin/env python
import roslib
roslib.load_manifest('openrtm_tools')
import OpenRTM_aist.RTM_IDL # for catkin
import sys
import os
import time
import optparse
from xml.dom.minidom import parse
import rtctree
from rtshell import rtcon
from rtshell import path
from rtshell import state_control_base
from rtshell import rts_exceptions
print('***** 11112222 ')
:
def rtconnect(nameserver, tags):
import re
print('***** 111113333 ')ps -aux | grep rtmlaunch.py でしょうか．
130s
commented
10 years ago tork@fuji:~/ros_tmp/cws$ locate rtmlaunch
/opt/ros/hydro/bin/rtmlaunch
/opt/ros/hydro/share/hrpsys_ros_bridge/scripts/rtmlaunch
/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py
tork@fuji:~/ros_tmp/cws$ ps -aux | grep rtmlaunch.py
Warning: bad ps syntax, perhaps a bogus '-'? See http://procps.sf.net/faq.html
tork 21656 0.0 0.0 14540 992 pts/1 S+ 20:42 0:00 grep --color=auto rtmlaunch.py
tork@fuji:~/ros_tmp/cws$ ps aux | grep rtmlaunch.py
tork 21654 0.0 0.0 14540 992 pts/1 S+ 20:41 0:00 grep --color=auto rtmlaunch.py
tork@fuji:~/ros_tmp/cws$ ps -aux | grep rtmlaunch
Warning: bad ps syntax, perhaps a bogus '-'? See http://procps.sf.net/faq.html
tork 21658 0.0 0.0 14540 980 pts/1 S+ 20:42 0:00 grep --color=auto rtmlaunch
tork@fuji:~/ros_tmp/cws$ ps aux | grep rtmlaunch
tork 21660 0.0 0.0 14540 980 pts/1 S+ 20:42 0:00 grep --color=auto rtmlaunch$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro023 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl してC-Cせずに，ps -aux | grep rtmlaunch.pyです．
130s
commented
10 years ago Sorry!
$ ps aux | grep rtmlaunch
tork 3634 10.9 0.0 241816 30776 ? Ss 20:45 0:01 python /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch USE_COMMON=true USE_WALKING=false USE_COLLISIONCHECK=false USE_IMPEDANCECONTROLLER=false USE_SOFTERRORLIMIT=false USE_IMAGESENSOR=false USE_ROBOTHARDWARE=false __name:=rtmlaunch_hrpsys_ros_bridge __log:=/home/tork/.ros/log/97bb3de6-9fa4-11e3-8d4f-00259093db68/rtmlaunch_hrpsys_ros_bridge-9.logしたら，/opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.pyは呼ばれていますね．あ，print >>sys.stderr, rtcon としてstderrに出したいです．
130s
commented
10 years ago $ more /opt/ros/hydro/lib/python2.7/dist-packages/rtshell/rtcon.py
:
115 except optparse.OptionError, e:
116 print >> sys.stderr, "error, ", e ## 2/27/2014 tork
117 print >>sys.stderr, 'OptionError:', e
118 return 1https://github.com/start-jsk/rtmros_hironx/issues/33#issuecomment-36233254 をprint('***** 11112222 ')ではなく，print >> sys.stderr, "***111122222"として，
https://github.com/start-jsk/rtmros_hironx/issues/33#issuecomment-36231787 のexcept Exception, e: # openrtm 1.1.0の行の次にprint >> sys.stderr, e したいです．
で，出力結果を見たいです．
130s
commented
10 years ago $ more /opt/ros/hydro/share/openrtm_tools/scripts/rtmlaunch.py
:
from rtshell import path
from rtshell import state_control_base
from rtshell import rts_exceptions
print >> sys.stderr, "***111122222"
def alive_component(path):
:
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, \
tree=None)
except Exception, e: # openrtm 1.1.0
print >> sys.stderr, e
rtcon.connect_ports([(source_path,source_full_path), (dest_path, dest_full_path)], opti\
ons, tree=None)
:
def rtconnect(nameserver, tags):
import re
print '***** 111113333 '$ more /home/tork/.ros/log/f4c20f30-9fa7-11e3-8a07-00259093db68/rtmlaunch_hrpsys_ros_bridge-9-stdout.log
***** 111113333 try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, \
tree=None)
except Exception, e: # openrtm 1.1.0
print >> sys.stderr, e
rtcon.connect_ports([(source_path,source_full_path), (dest_path, dest_full_path)], opti\なので，
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
と表示されている前に Exception eの内容が表示されると思うんですが．．．
130s
commented
10 years ago Failed to make connection: Bad parameter
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given)
[ WARN] [1393503360.960838489]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Connected from hiro023:15005/sh.rtc:qOut
[rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
Failed to make connection: Bad parameter
[rtmlaunch] hrpsys_ros_bridge.launch: connect_ports() takes at least 5 arguments (3 given) もう一度，rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launchが動いていることを確認して，それだったら
rtcat -l hiro023:15005/sh.rtc:qOut
rtcat -l hiro023:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
cat /etc/hosts
nslookup hiro023
nslookup fuji
ifconfigで，QNX側でも
ifconfig
cat /etc/hosts
nslookup hiro023
nslookup fujiでしょうか．
k-okada
commented
10 years ago @emijah さんの指摘（ネットワーク？）が正しかったかも． https://code.google.com/p/rtm-ros-robotics/issues/detail?id=18, https://code.google.com/p/rtm-ros-robotics/issues/detail?id=14
130s
commented
10 years ago $ rtcat -l hiro023:15005/sh.rtc:qOut
No command 'rtcat' found, did you mean:
Command 'tcat' from package 'libgsm-tools' (universe)
Command 'rfcat' from package 'dpm' (universe)
rtcat: command not foundAnd https://github.com/start-jsk/rtmros_common/issues/331 prohibits rtcat from source.
k-okada
commented
10 years ago rtcatを使うのにrtmros_commonは必要無いです．rtshell_coreだけでいいはずです．
130s
commented
10 years ago Robot's QNX is on eth1's network.
$ ifconfig
eth0 Link encap:Ethernet HWaddr 00:25:90:93:db:68
inet addr:192.168.0.235 Bcast:192.168.0.255 Mask:255.255.255.0
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:22604 errors:0 dropped:1 overruns:0 frame:0
TX packets:13387 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:14561246 (14.5 MB) TX bytes:2034202 (2.0 MB)
Memory:dfd20000-dfd40000
eth1 Link encap:Ethernet HWaddr 00:25:90:93:db:69
inet addr:192.168.128.1 Bcast:192.168.128.255 Mask:255.255.255.0
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:5733848 errors:0 dropped:0 overruns:0 frame:0
TX packets:3311077 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:6564116171 (6.5 GB) TX bytes:369833164 (369.8 MB)
Memory:dfd00000-dfd20000
eth2 Link encap:Ethernet HWaddr a0:36:9f:11:6f:46
UP BROADCAST MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
Memory:fa200000-fa300000
eth3 Link encap:Ethernet HWaddr a0:36:9f:11:6f:47
UP BROADCAST MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
Memory:fa100000-fa200000
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
UP LOOPBACK RUNNING MTU:16436 Metric:1
RX packets:4617110 errors:0 dropped:0 overruns:0 frame:0
TX packets:4617110 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:1977266074 (1.9 GB) TX bytes:1977266074 (1.9 GB)それはダメかもしれないです．eth0につなげてみてください．
130s
commented
10 years ago On QNX,
$ ifconfig
lo0: flags=8049<UP,LOOPBACK,RUNNING,MULTICAST> mtu 33192
inet 127.0.0.1 netmask 0xff000000
wm0: flags=8843<UP,BROADCAST,RUNNING,SIMPLEX,MULTICAST> mtu 1500
capabilities=1f<IP4CSUM,TCP4CSUM,UDP4CSUM,TCP6CSUM,UDP6CSUM>
enabled=0
address: 00:0b:ab:69:0b:fc
media: Ethernet autoselect (100baseTX full-duplex,flowcontrol,rxpause,txpause)
status: active
inet 192.168.128.23 netmask 0xffffff00 broadcast 192.168.128.255
$ cat /etc/hosts
#
# Host Database
#
127.1 localhost.localdomain localhost
::1 localhost.localdomain localhost
192.168.128.23 hiro023
$ nslookup hiro023
;; connection timed out; no servers could be reached
$ nslookup fuji
;; connection timed out; no servers could be reachedWe'll switch Ubuntu's NIC.
130s
commented
10 years ago On Ubuntu,
$ nslookup hiro023
Server: 160.***.**.***
Address: 160.***.**.***#53
** server can't find hiro023: NXDOMAIN
tork@fuji:~/ros_tmp/cws$ nslookup fuji
Server: 160.***.**.***
Address: 160.***.**.***#53
** server can't find fuji: NXDOMAIN
tork@fuji:~/ros_tmp/cws$ netstat -r
Kernel IP routing table
Destination Gateway Genmask Flags MSS Window irtt Iface
default 192.168.0.1 0.0.0.0 UG 0 0 0 eth0
default fuji.local 0.0.0.0 UG 0 0 0 eth1
link-local * 255.255.0.0 U 0 0 0 eth1
192.168.0.0 * 255.255.255.0 U 0 0 0 eth0
192.168.128.0 * 255.255.255.0 U 0 0 0 eth1
tork@fuji:~/ros_tmp/cws$ cat /etc/hosts
127.0.0.1 localhost
127.0.1.1 fuji
192.168.128.23 hiro023
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allroutersHiding some addresses that I'm not sure if it's on global network.
k-okada
commented
10 years ago nslookup ではなく ping で調べたほうが良さそうですね．いずれにせよネットワークの構成を変えてみましょう．Ubuntuで，eth0とeth1をひっくり返せばいいかな．あるいは，eth0をdisableにするのかな．
130s
commented
10 years ago Breaking news; the error doesn't happen with eth0 connected to the robot.
k-okada
commented
10 years ago ＼(^O^)／
130s
commented
10 years ago 130s
commented
10 years ago Just a record; this happened when we were using VisionPC/Ubuntu to provide a router feature by Shorewall so that there were multiple NICs. Note that unlike the situation reported above, even eth0 was connected to the QNX. So we ended up disabling Shorewall without looking into the issue deeper.
130s
commented
10 years ago Added to troubleshooting page as a better reference for users.
(tl;dr) For the future reference, this issue is worked around by using
eth0to connect to the robot's internal OS (QNX) as of 2/27/2014.On fresh installed hiro robot, running
Then I get the error in the title.
Happens with both .deb and source from upstream: