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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP' #363

Closed 130s closed 9 years ago

130s commented 9 years ago

Critical: this makes hironx.py _unusable_.

hrpsys on QNX is 315.2.8.

$ ipython -i `rospack find hironx_ros_bridge`/scripts/acceptancetest_hironx.py -- --host nextage
Python 2.7.3 (default, Dec 18 2014, 19:10:20) 
Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    173             else:
    174                 filename = fname
--> 175             __builtin__.execfile(filename, *where)

/opt/ros/hydro/share/hironx_ros_bridge/scripts/acceptancetest_hironx.py in <module>()
     36 
     37 from hironx_ros_bridge.constant import Constant
---> 38 from hironx_ros_bridge.hironx_client import HIRONX
     39 from hironx_ros_bridge.ros_client import ROS_Client
     40 from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in <module>()
     83                     pass
     84 
---> 85 class HIRONX(HrpsysConfigurator):
     86     '''
     87     @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in HIRONX()
    758                        reference_gain = 0.0,
    759                        manipulability_limit = 0.1,
--> 760                        controller_mode = OpenHRP.ImpedanceControllerService.MODE_IMP):
    761         self.ic_svc.setImpedanceControllerParam(
    762             arm,

AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP'

In [1]: 
Do you really want to exit ([y]/n)? 
marsryu@ayame:~$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py
Python 2.7.3 (default, Dec 18 2014, 19:10:20) 
Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    173             else:
    174                 filename = fname
--> 175             __builtin__.execfile(filename, *where)

/home/marsryu/catkin_ws/src/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     39 # This should come earlier than later import.

     40 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773

---> 41 from nextage_ros_bridge import nextage_client
     42 
     43 from hrpsys import rtm

/home/marsryu/catkin_ws/src/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py in <module>()
     35 # Author: Isaac Isao Saito

     36 
---> 37 from hironx_ros_bridge.hironx_client import HIRONX
     38 
     39 from nextage_ros_bridge.iros13_hands import Iros13Hands

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in <module>()
     83                     pass
     84 
---> 85 class HIRONX(HrpsysConfigurator):
     86     '''
     87     @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in HIRONX()
    758                        reference_gain = 0.0,
    759                        manipulability_limit = 0.1,
--> 760                        controller_mode = OpenHRP.ImpedanceControllerService.MODE_IMP):
    761         self.ic_svc.setImpedanceControllerParam(
    762             arm,

AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP'

$ rosversion hironx_ros_bridge
1.0.31
$ dpkg -p ros-hydro-hironx-ros-bridge |grep Ver
Version: 1.0.31-0precise-20150507-0951-+0000

FYI @RyuYamamoto

k-okada commented 9 years ago

please do not edit log message, please copy and past all logs.

◉ Kei Okada

On Tue, May 12, 2015 at 7:37 PM, Isaac I.Y. Saito notifications@github.com wrote:

Critical: this makes hironx.py unusable.

hrpsys on QNX is 315.2.8.

$ ipython -i rospack find hironx_ros_bridge/scripts/acceptancetest_hironx.py -- --host nextage Python 2.7.3 (default, Dec 18 2014, 19:10:20) Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python. ? -> Introduction and overview of IPython's features. %quickref -> Quick reference. help -> Python's own help system. object? -> Details about 'object', use 'object??' for extra details.

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

AttributeError Traceback (most recent call last) /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, where) 173 else: 174 filename = fname --> 175 builtin.execfile(filename, where)

/opt/ros/hydro/share/hironx_ros_bridge/scripts/acceptancetest_hironx.py in () 36 37 from hironx_ros_bridge.constant import Constant ---> 38 from hironx_ros_bridge.hironx_client import HIRONX 39 from hironx_ros_bridge.ros_client import ROS_Client 40 from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in () 83 pass 84 ---> 85 class HIRONX(HrpsysConfigurator): 86 ''' 87 @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in HIRONX() 758 reference_gain = 0.0, 759 manipulability_limit = 0.1, --> 760 controller_mode = OpenHRP.ImpedanceControllerService.MODE_IMP): 761 self.ic_svc.setImpedanceControllerParam( 762 arm,

AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP'

In [1]: Do you really want to exit ([y]/n)? marsryu@ayame:~$ ipython -i rospack find nextage_ros_bridge/script/nextage.py Python 2.7.3 (default, Dec 18 2014, 19:10:20) Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python. ? -> Introduction and overview of IPython's features. %quickref -> Quick reference. help -> Python's own help system. object? -> Details about 'object', use 'object??' for extra details.

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

AttributeError Traceback (most recent call last) /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, where) 173 else: 174 filename = fname --> 175 builtin.execfile(filename, where)

/home/marsryu/catkin_ws/src/rtmros_nextage/nextage_ros_bridge/script/nextage.py in () 39 # This should come earlier than later import.

 40 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773

---> 41 from nextage_ros_bridge import nextage_client 42 43 from hrpsys import rtm

/home/marsryu/catkin_ws/src/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py in () 35 # Author: Isaac Isao Saito

 36

---> 37 from hironx_ros_bridge.hironx_client import HIRONX 38 39 from nextage_ros_bridge.iros13_hands import Iros13Hands

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in () 83 pass 84 ---> 85 class HIRONX(HrpsysConfigurator): 86 ''' 87 @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in HIRONX() 758 reference_gain = 0.0, 759 manipulability_limit = 0.1, --> 760 controller_mode = OpenHRP.ImpedanceControllerService.MODE_IMP): 761 self.ic_svc.setImpedanceControllerParam( 762 arm,

AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP'

$ rosversion hironx_ros_bridge 1.0.31 $ dpkg -p ros-hydro-hironx-ros-bridge |grep Ver Version: 1.0.31-0precise-20150507-0951-+0000

FYI @RyuYamamoto https://github.com/RyuYamamoto

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/363.

130s commented 9 years ago

いや，コピーペーストして，どこも変えてないと思います

130s commented 9 years ago

With nextage.py.

n130s@ayame:~$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py -- --host nextage
Python 2.7.3 (default, Dec 18 2014, 19:10:20) 
Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    173             else:
    174                 filename = fname
--> 175             __builtin__.execfile(filename, *where)

/opt/ros/hydro/share/nextage_ros_bridge/script/nextage.py in <module>()
     39 # This should come earlier than later import.

     40 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773

---> 41 from nextage_ros_bridge import nextage_client
     42 
     43 from hrpsys import rtm

/opt/ros/hydro/lib/python2.7/dist-packages/nextage_ros_bridge/nextage_client.py in <module>()
     35 # Author: Isaac Isao Saito

     36 
---> 37 from hironx_ros_bridge.hironx_client import HIRONX
     38 
     39 from nextage_ros_bridge.iros13_hands import Iros13Hands

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in <module>()
     83                     pass
     84 
---> 85 class HIRONX(HrpsysConfigurator):
     86     '''
     87     @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +

/opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in HIRONX()
    758                        reference_gain = 0.0,
    759                        manipulability_limit = 0.1,
--> 760                        controller_mode = OpenHRP.ImpedanceControllerService.MODE_IMP):
    761         self.ic_svc.setImpedanceControllerParam(
    762             arm,

AttributeError: class ImpedanceControllerService has no attribute 'MODE_IMP'

In [1]:
130s commented 9 years ago

The error above happens on Hydro machine. On my Indigo machine this error doesn't happen. When this error happens, the hrpsys client class is not instantiated so checking its version by robot.hrpsys_version is not possible.

130s commented 9 years ago 
sudo apt-get install --reinstall ros-hydro-hironx* ros-hydro-nextage-*

$ more /etc/apt/sources.list.d/ros-latest.list
#deb http://packages.ros.org/ros/ubuntu precise main

# Shadow-fixed
deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main

Reinstall is no use for this Hydro machine.

130s commented 9 years ago 
sudo apt-get install --reinstall ros-hydro-hironx* ros-hydro-nextage-* ros-hydro-hrpsys*

This solved this. Thank you!