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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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Sim hrpsys process keeps dying on Indigo #365

Closed 130s closed 9 years ago

130s commented 9 years ago

I'm working on a Trusty machines via TeamViewer (remote desktop service) where I see this issue.

roboworks@M14xR2:~$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch 
[rtmlaunch] Start omniNames at port 15005 

Fri Jun 19 07:02:24 2015:

Read log file successfully.
:
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
auto-starting new master
process[master]: started with pid [12126]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b3b3e0a6-1605-11e5-9cc5-d4bed9726800
process[rosout-1]: started with pid [12139]
started core service [/rosout]
process[modelloader-2]: started with pid [12163]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[hrpsys-3]: started with pid [12166]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12167]
IDL:omg.org/CORBA/TRANSIENT:1.0
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
process[hrpsys_py-4]: started with pid [12178]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12179]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[HrpsysSeqStateROSBridge-5]: started with pid [12185]
process[HrpsysJointTrajectoryBridge-6]: started with pid [12189]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12190]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[hrpsys_state_publisher-7]: started with pid [12199]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12218]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[hrpsys_ros_diagnostics-8]: started with pid [12221]
process[diagnostic_aggregator-9]: started with pid [12224]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12246]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[hrpsys_profile-10]: started with pid [12258]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12259]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[sensor_ros_bridge_connect-11]: started with pid [12273]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12322]
IDL:omg.org/CORBA/TRANSIENT:1.0
/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/diagnostics.py:75: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [12335]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
process[modelloader-2]: started with pid [12344]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[SequencePlayerServiceROSBridge-13]: started with pid [12349]
configuration ORB with localhost:15005
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[DataLoggerServiceROSBridge-14]: started with pid [12355]
process[modelloader-2]: started with pid [12357]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[ForwardKinematicsServiceROSBridge-15]: started with pid [12366]
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:15005
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[hrpsys_profile-10] process has died [pid 12258, exit code 1, cmd /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/hrpsys_profile.py -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_profile __log:=/home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys_profile-10.log].
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys_profile-10*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12372]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[StateHolderServiceROSBridge-16]: started with pid [12375]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[hrpsys_py-4] process has died [pid 12178, exit code 1, cmd /opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys_py-4.log].
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys_py-4*.log
[sensor_ros_bridge_connect-11] process has died [pid 12273, exit code 1, cmd /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae HiroNX(Robot)0 HrpsysSeqStateROSBridge0 localhost -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=sensor_ros_bridge_connect __log:=/home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/sensor_ros_bridge_connect-11.log].
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/sensor_ros_bridge_connect-11*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12379]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[robot_pose_ekf-17]: started with pid [12382]
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:q , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  Invalid CORBA naming service: localhost:15005 
[rtmlaunch] Could not Activate ( localhost:15005/HrpsysSeqStateROSBridge0.rtc ) :  Invalid CORBA naming service: localhost:15005 
process[base_footprint_rootlink-18]: started with pid [12451]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12466]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[CollisionDetectorComp-19]: started with pid [12472]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[rtmlaunch_collision_detector-20]: started with pid [12478]
process[modelloader-2]: started with pid [12479]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[collision_state-21]: started with pid [12482]
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12483]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12493]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12498]
IDL:omg.org/CORBA/TRANSIENT:1.0
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:q , /localhost:15005/CollisionDetector0.rtc:qCurrent ):  Invalid CORBA naming service: localhost:15005 
[rtmlaunch] Could not Activate ( localhost:15005/$(arg COLLISIONDETECTOR_INSTANCE_NAME).rtc ) :  Invalid CORBA naming service: localhost:15005 
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12511]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12514]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12518]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12521]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
terminate called after throwing an instance of 'CORBA::BAD_PARAM'
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/modelloader-2*.log
[hrpsys-3] process has died [pid 12166, exit code -6, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ForwardKinematics.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ImpedanceController.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AutoBalancer.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.StateHolder.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueFilter.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueController.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoEstimator.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoLimiter.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.VirtualForceSensor.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AbsoluteForceSensor.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RemoveForceSensorLinkOffset.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.KalmanFilter.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.Stabilizer.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.CollisionDetector.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.SoftErrorLimiter.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.HGcontroller.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.PDcontroller.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RobotHardware.config_file:/opt/ros/indigo/share/hironx_ros_bridge/conf/kawada-hironx.conf __name:=hrpsys __log:=/home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys-3.log].
log file: /home/roboworks/.ros/log/b3b3e0a6-1605-11e5-9cc5-d4bed9726800/hrpsys-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [12689]
[hrpsys-3] restarting process
process[hrpsys-3]: started with pid [12690]
:
[diagnostic_aggregator-9] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[HrpsysJointTrajectoryBridge-6] killing on exit
[HrpsysSeqStateROSBridge-5] killing on exit
[hrpsys-3] killing on exit
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
[rtmlaunch] terminate omniNames at port 15005
130s commented 9 years ago

Found omniNames was running but stopping it takes no effect.

$ sudo service omniorb4-nameserver stop
[sudo] password for tork: 
 * Stopping omniORB name server omniNames
130s commented 9 years ago

After restarting the OS the issue is gone.

k-okada commented 9 years ago

note : sudo service .. will stop nameserver with default port 2809 rtmros uses nameserver with custom port 15005, which is started on rtmrlaumch ( https://github.com/start-jsk/rtmros_common/blob/master/openrtm_tools/scripts/rtmlaunch#L31 )

◉ Kei Okada

On Fri, Jun 19, 2015 at 8:20 AM, Isaac I.Y. Saito notifications@github.com wrote:

Found omniNames was running but stopping it takes no effect.

$ sudo service omniorb4-nameserver stop [sudo] password for tork:

  • Stopping omniORB name server omniNames

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/365#issuecomment-113316372 .