宿題 - Githubissues

start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages

http://wiki.ros.org/rtmros_hironx

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宿題 #423

Open k-okada opened 8 years ago

k-okada commented 8 years ago

１。普通にlaunchを立ち上げるとcollisiondetectorのコンポーネントが入らないです。なので入れるようにするにはどうしたらいいかしらべて、入れてみてください。２。その時に両腕の前腕がセルフコリジョンする動作をつくってください。いきなりだと危ないので、まず１０cmぐらい離れたし姿勢になって、１cmづつ、ちょっとづつ近づくようにしてみてください。３。たぶん、手のモデルが入っていないので、手のモデルをいれてください。BoundingBoxでよいです。ちょっとおおきいぐらいでよいです。１、２cmぐらい。で、両腕の手と手がぶつかる動作を２と同じようにして動かして見てください。

できたら実機で試しましょう。 @pazeshun

k-okada commented 8 years ago

http://www.airbusgroup.com/int/en/innovation-citizenship/Airbus-Shopfloor-Challenge-2016.html

pazeshun commented 8 years ago

http://www.ros.org/news/2013/01/tecnalia-wins-the-factory-of-the-future-award-at-european-manufacturing-awards-2012-with-a-robot-pro.html

pazeshun commented 8 years ago

http://www.airbus.com/presscentre/pressreleases/press-release-detail/detail/airbus-invests-in-robotics-as-part-of-its-commitment-to-innovation/

pazeshun commented 8 years ago

@k-okada screenshot from 2016-01-27 18 32 59 一応、左手と右手が衝突するような目標座標を与えて腕を動かしてやると、このようにモデルが接触した時点で止まるようになりました。

pazeshun commented 8 years ago

rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.pyの、248行目

 # ['co', "CollisionDetector"],

のコメントアウトを外して

['co', "CollisionDetector"],

としてみて実行しただけです。 ~~ただ、なにやら実行時に見たことないエラーが出ているので、またご報告します~~気のせいでした

pazeshun commented 8 years ago

とりあえず、実機につなげるかどうかだけ試したのですが、

$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py -- --host hiro014

を実行した所、変更前には出なかったエラーが２つ出ました。

[hrpsys.py] Fail to createComps CORBA.UNKNOWN(omniORB.UNKNOWN_UserException, CORBA.COMPLETED_MAYBE)

というものと、

[hrpsys.py] Fail to find instance (['co', 'CollisionDetector']) for getRTCInstanceList

です。以下はログ全体です。

Python 2.7.6 (default, Jun 22 2015, 17:58:13) 
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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.
configuration ORB with hiro014:15005
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1aacdd0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1aacdd0> isActive? = False 
[hrpsys.py] simulation_mode : False
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7fa5b1aaca28>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7fa5b1aacd40>
[hrpsys.py]    version  =  1.0
;;
;; Loading ImpedanceController < 315.1.9
;;
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1aacdd0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1aacdd0> isActive? = False 
[hrpsys.py] simulation_mode : False
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1ab70e0> (1.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fa5977c00e0>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1ac1f38> (1.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fa5b202c0e0>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fa5977c0440> (1.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fa5b1ac67a0>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1acfdd0> (1.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fa5b2038050>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1ac18c0> (1.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fa5b1ac6950>
[hrpsys.py]   eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co")
[hrpsys.py] Fail to createComps CORBA.UNKNOWN(omniORB.UNKNOWN_UserException, CORBA.COMPLETED_MAYBE)
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1abdb48> (1.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7fa5b1ab7320>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7fa5b1ac1488> (1.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7fa5b1ab7518>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo")
[hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7fa5977c0ef0> (1.0)
[hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7fa5b1adac68>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - ic.qRef
[rtm.py]    Connect ic.q - el.qRef
[rtm.py]    Connect el.q - RobotHardware0.qRef
[rtm.py]    Connect RobotHardware0.servoState - el.servoStateIn
[rtm.py]    Connect RobotHardware0.q - sh.currentQIn
[rtm.py]    Connect RobotHardware0.q - fk.q
[rtm.py]    Connect sh.qOut - fk.qRef
[rtm.py]    Connect seq.qRef - sh.qIn
[rtm.py]    Connect seq.tqRef - sh.tqIn
[rtm.py]    Connect seq.basePos - sh.basePosIn
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn
[rtm.py]    Connect seq.zmpRef - sh.zmpIn
[rtm.py]    Connect sh.basePosOut - seq.basePosInit
[rtm.py]    Connect sh.basePosOut - fk.basePosRef
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef
[rtm.py]    Connect sh.qOut - seq.qInit
[rtm.py]    Connect RobotHardware0.q - rmfo.qCurrent
[rtm.py]    Connect RobotHardware0.q - ic.qCurrent
[rtm.py]    Connect RobotHardware0.q - el.qCurrent
[hrpsys.py] activating components
[hrpsys.py] Fail to find instance (['co', 'CollisionDetector']) for getRTCInstanceList
[hrpsys.py] setup logger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to RobotHardware0_q
[rtm.py]    Connect RobotHardware0.q - log.RobotHardware0_q
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = dq to RobotHardware0_dq
[rtm.py]    Connect RobotHardware0.dq - log.RobotHardware0_dq
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to RobotHardware0_tau
[rtm.py]    Connect RobotHardware0.tau - log.RobotHardware0_tau
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py]    Connect ic.q - log.ic_q
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py]    Connect el.q - log.el_q
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.emergencySignal - log.emergencySignal
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to RobotHardware0_servoState
[rtm.py]    Failed to connect RobotHardware0.servoState to None([None])
[hrpsys.py] setup joint groups
[hrpsys.py] initialized successfully
[rtm.py]    Connect RobotHardware0.lhsensor - ic.lhsensor
[rtm.py]    Connect RobotHardware0.rhsensor - ic.rhsensor
[ros_client] ros master is not running, so do not create ros client...

pazeshun commented 8 years ago

以下は、変更前に戻した時のログです。

Python 2.7.6 (default, Jun 22 2015, 17:58:13) 
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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.
configuration ORB with hiro014:15005
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d90dd0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d90dd0> isActive? = True 
[hrpsys.py] simulation_mode : False
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7fc7e3d90a28>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7fc7e3d90d40>
[hrpsys.py]    version  =  1.0
;;
;; Loading ImpedanceController < 315.1.9
;;
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d9b1b8> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d9b1b8> isActive? = True 
[hrpsys.py] simulation_mode : False
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
RTC named "seq" already exists.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3dbd8> (1.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fc7cda2eef0>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
RTC named "sh" already exists.
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3df80> (1.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fc7cda60050>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
RTC named "fk" already exists.
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda41b90> (1.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fc7e4316560>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
RTC named "ic" already exists.
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3d1b8> (1.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fc7cda2a3b0>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
RTC named "el" already exists.
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3d2d8> (1.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fc7cda9d050>
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
RTC named "sc" already exists.
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda5a518> (1.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7fc7e3d90b90>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
RTC named "log" already exists.
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda41950> (1.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7fc7cda34830>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo")
RTC named "rmfo" already exists.
[hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7fc7cdaa57a0> (1.0)
[hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7fc7e4310128>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - ic.qRef
[rtm.py]    Connect ic.q - el.qRef
[rtm.py]    Connect el.q - RobotHardware0.qRef
[rtm.py]    Connect RobotHardware0.servoState - el.servoStateIn
[rtm.py]    Connect RobotHardware0.q - sh.currentQIn
[rtm.py]    Connect RobotHardware0.q - fk.q
[rtm.py]    Connect sh.qOut - fk.qRef
[rtm.py]    Connect seq.qRef - sh.qIn
[rtm.py]    Connect seq.tqRef - sh.tqIn
[rtm.py]    Connect seq.basePos - sh.basePosIn
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn
[rtm.py]    Connect seq.zmpRef - sh.zmpIn
[rtm.py]    Connect sh.basePosOut - seq.basePosInit
[rtm.py]    Connect sh.basePosOut - fk.basePosRef
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef
[rtm.py]    Connect sh.qOut - seq.qInit
[rtm.py]    Connect RobotHardware0.q - rmfo.qCurrent
[rtm.py]    Connect RobotHardware0.q - ic.qCurrent
[rtm.py]    Connect RobotHardware0.q - el.qCurrent
[hrpsys.py] activating components
seqis already serialized
shis already serialized
fkis already serialized
icis already serialized
elis already serialized
scis already serialized
logis already serialized
rmfois already serialized
[hrpsys.py] setup logger
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.q - log.RobotHardware0_q
[hrpsys.py]   setupLogger : dq arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.dq - log.RobotHardware0_dq
[hrpsys.py]   setupLogger : tau arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.tau - log.RobotHardware0_tau
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : qOut arleady exists in DataLogger
[rtm.py]    Connect sh.qOut - log.sh_qOut
[hrpsys.py]   setupLogger : tqOut arleady exists in DataLogger
[rtm.py]    Connect sh.tqOut - log.sh_tqOut
[hrpsys.py]   setupLogger : basePosOut arleady exists in DataLogger
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut
[hrpsys.py]   setupLogger : baseRpyOut arleady exists in DataLogger
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut
[hrpsys.py]   setupLogger : zmpOut arleady exists in DataLogger
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]    Connect ic.q - log.ic_q
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]    Connect el.q - log.el_q
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.emergencySignal - log.emergencySignal
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to RobotHardware0_servoState
[rtm.py]    Failed to connect RobotHardware0.servoState to None([None])
[hrpsys.py] setup joint groups
[hrpsys.py] initialized successfully
[ros_client] ros master is not running, so do not create ros client...

k-okada commented 8 years ago

qnx側の/opt/jsk かな？のしたにCollisionDetector.soがあるかどうか見てみてくダサい．例えば，DataLogger.soがあるディレクトリと同じ所に有るはずです．

◉ Kei Okada

On Wed, Jan 27, 2016 at 7:55 PM, pazeshun notifications@github.com wrote:

以下は、変更前に戻した時のログです。

Python 2.7.6 (default, Jun 22 2015, 17:58:13) Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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. configuration ORB with hiro014:15005 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d90dd0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d90dd0> isActive? = True [hrpsys.py] simulation_mode : False [hrpsys.py] Hrpsys controller version info: [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7fc7e3d90a28> [hrpsys.py] ref = <RTM._objref_Manager instance at 0x7fc7e3d90d40> [hrpsys.py] version = 1.0 ;; ;; Loading ImpedanceController < 315.1.9 ;; [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d9b1b8> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fc7e3d9b1b8> isActive? = True [hrpsys.py] simulation_mode : False [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") RTC named "seq" already exists. [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3dbd8> (1.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fc7cda2eef0> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") RTC named "sh" already exists. [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3df80> (1.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fc7cda60050> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") RTC named "fk" already exists. [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda41b90> (1.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fc7e4316560> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") RTC named "ic" already exists. [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3d1b8> (1.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fc7cda2a3b0> [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") RTC named "el" already exists. [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda3d2d8> (1.0) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fc7cda9d050> [hrpsys.py] eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc") RTC named "sc" already exists. [hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda5a518> (1.0) [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7fc7e3d90b90> [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") RTC named "log" already exists. [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7fc7cda41950> (1.0) [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7fc7cda34830> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo") RTC named "rmfo" already exists. [hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7fc7cdaa57a0> (1.0) [hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7fc7e4310128> [hrpsys.py] connecting components [rtm.py] Connect sh.qOut - ic.qRef [rtm.py] Connect ic.q - el.qRef [rtm.py] Connect el.q - RobotHardware0.qRef [rtm.py] Connect RobotHardware0.servoState - el.servoStateIn [rtm.py] Connect RobotHardware0.q - sh.currentQIn [rtm.py] Connect RobotHardware0.q - fk.q [rtm.py] Connect sh.qOut - fk.qRef [rtm.py] Connect seq.qRef - sh.qIn [rtm.py] Connect seq.tqRef - sh.tqIn [rtm.py] Connect seq.basePos - sh.basePosIn [rtm.py] Connect seq.baseRpy - sh.baseRpyIn [rtm.py] Connect seq.zmpRef - sh.zmpIn [rtm.py] Connect sh.basePosOut - seq.basePosInit [rtm.py] Connect sh.basePosOut - fk.basePosRef [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef [rtm.py] Connect sh.qOut - seq.qInit [rtm.py] Connect RobotHardware0.q - rmfo.qCurrent [rtm.py] Connect RobotHardware0.q - ic.qCurrent [rtm.py] Connect RobotHardware0.q - el.qCurrent [hrpsys.py] activating components seqis already serialized shis already serialized fkis already serialized icis already serialized elis already serialized scis already serialized logis already serialized rmfois already serialized [hrpsys.py] setup logger [hrpsys.py] setupLogger : q arleady exists in DataLogger [rtm.py] Connect RobotHardware0.q - log.RobotHardware0_q [hrpsys.py] setupLogger : dq arleady exists in DataLogger [rtm.py] Connect RobotHardware0.dq - log.RobotHardware0_dq [hrpsys.py] setupLogger : tau arleady exists in DataLogger [rtm.py] Connect RobotHardware0.tau - log.RobotHardware0_tau [hrpsys.py] sensor names for DataLogger [hrpsys.py] setupLogger : qOut arleady exists in DataLogger [rtm.py] Connect sh.qOut - log.sh_qOut [hrpsys.py] setupLogger : tqOut arleady exists in DataLogger [rtm.py] Connect sh.tqOut - log.sh_tqOut [hrpsys.py] setupLogger : basePosOut arleady exists in DataLogger [rtm.py] Connect sh.basePosOut - log.sh_basePosOut [hrpsys.py] setupLogger : baseRpyOut arleady exists in DataLogger [rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut [hrpsys.py] setupLogger : zmpOut arleady exists in DataLogger [rtm.py] Connect sh.zmpOut - log.sh_zmpOut [hrpsys.py] setupLogger : q arleady exists in DataLogger [rtm.py] Connect ic.q - log.ic_q [hrpsys.py] setupLogger : q arleady exists in DataLogger [rtm.py] Connect el.q - log.el_q [hrpsys.py] setupLogger : emergencySignal arleady exists in DataLogger [rtm.py] Connect RobotHardware0.emergencySignal - log.emergencySignal [hrpsys.py] setupLogger : record type = TimedLongSeqSeq, name = servoState to RobotHardware0_servoState [rtm.py] Failed to connect RobotHardware0.servoState to None([None]) [hrpsys.py] setup joint groups [hrpsys.py] initialized successfully [ros_client] ros master is not running, so do not create ros client...

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-175555369 .

pazeshun commented 8 years ago

$ find /opt/jsk -name DataLogger.so
/opt/jsk/src/hrpsys-base-source-315.1.7/rtc/DataLogger/CMakeFiles/CMakeRelink.dir/DataLogger.so
/opt/jsk/src/hrpsys-base-source-315.1.7/lib/DataLogger.so
/opt/jsk/lib/DataLogger.so

となり、どのディレクトリを調べてもCollisionDetector.soらしきものはありませんでした

pazeshun commented 8 years ago

/opt/jsk/src/hrpsys-base-source-315.1.7/rtc/CollisionDetectorはありましたが、その中にCMakeFilesはありませんでした。これ、コンパイルするとできるってことなんですかね

k-okada commented 8 years ago

/opt/jsk のどっかにbuildというディレクトリかCMakefilesが有るディレクトリがあるんだけどわかるかな．

◉ Kei Okada

On Fri, Jan 29, 2016 at 5:55 PM, pazeshun notifications@github.com wrote:

/opt/jsk/src/hrpsys-base-source-315.1.7/rtc/CollisionDetector はありましたが、その中にCMakeFilesはありませんでした。これ、コンパイルするとできるってことなんですかね

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-176649379 .

pazeshun commented 8 years ago

$ pwd                             
/opt/jsk
$ find . -type d -name CMakeFiles 
./src/hrpsys-base-source-315.1.7/test/CMakeFiles
./src/hrpsys-base-source-315.1.7/python/CMakeFiles
./src/hrpsys-base-source-315.1.7/sample/HRP4C/data/CMakeFiles
./src/hrpsys-base-source-315.1.7/sample/HRP4C/CMakeFiles
./src/hrpsys-base-source-315.1.7/sample/PA10/CMakeFiles
./src/hrpsys-base-source-315.1.7/sample/CMakeFiles
./src/hrpsys-base-source-315.1.7/ec/hrpEC/CMakeFiles
./src/hrpsys-base-source-315.1.7/ec/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/Range2PointCloud/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/GraspController/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/TorqueController/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/ThermoLimiter/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/ThermoEstimator/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/AbsoluteForceSensor/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/NullComponent/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/ServoController/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/HGcontroller/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/RobotHardware/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/KalmanFilter/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/DataLogger/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/SoftErrorLimiter/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/TorqueFilter/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/SequencePlayer/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/ImpedanceController/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/VirtualForceSensor/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/AutoBalancer/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/Stabilizer/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/WavPlayer/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/ForwardKinematics/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/StateHolder/CMakeFiles
./src/hrpsys-base-source-315.1.7/rtc/CMakeFiles
./src/hrpsys-base-source-315.1.7/lib/io/CMakeFiles
./src/hrpsys-base-source-315.1.7/lib/CMakeFiles
./src/hrpsys-base-source-315.1.7/idl/CMakeFiles
./src/hrpsys-base-source-315.1.7/CMakeFiles
./src/hrpsys-base-source-315.1.7/CMakeFiles/CMakeTmp/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpCorba/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpCollision/Opcode/Ice/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpCollision/Opcode/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpCollision/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpUtil/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpModel/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/hrpRTM/CMakeFiles
./src/OpenHRP-3.1.5/hrplib/CMakeFiles
./src/OpenHRP-3.1.5/sample/JoystickControl/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleHG/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/PD_HGtest/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleCrawler/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleLF/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SamplePD_HG/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/PA10Controller/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleController/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SamplePD/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleSV/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/SampleRH2/CMakeFiles
./src/OpenHRP-3.1.5/sample/controller/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/clap/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/move_ankle/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/customizer/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/viewSimulator/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/simulationEC/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/scheduler/CMakeFiles
./src/OpenHRP-3.1.5/sample/example/CMakeFiles
./src/OpenHRP-3.1.5/sample/CMakeFiles
./src/OpenHRP-3.1.5/script/CMakeFiles
./src/OpenHRP-3.1.5/server/CollisionDetector/CMakeFiles
./src/OpenHRP-3.1.5/server/ModelLoader/CMakeFiles
./src/OpenHRP-3.1.5/server/AistDynamicsSimulator/CMakeFiles
./src/OpenHRP-3.1.5/server/CMakeFiles
./src/OpenHRP-3.1.5/idl/OpenRTM/1.1.0/CMakeFiles
./src/OpenHRP-3.1.5/idl/OpenRTM/CMakeFiles
./src/OpenHRP-3.1.5/idl/OpenHRP/CMakeFiles
./src/OpenHRP-3.1.5/idl/CMakeFiles
./src/OpenHRP-3.1.5/CMakeFiles
./src/OpenHRP-3.1.5/CMakeFiles/CMakeTmp/CMakeFiles

という出力が得られました。意味が違ってたらごめんなさい。

pazeshun commented 8 years ago

こないだ、

# make install

がうまく行ったと思っていたのですが、再起動を忘れていたためのようで、起動してPCから接続しようとすると以下のようなログが出てきて接続が失敗しました。

$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py -- --host hiro014
Python 2.7.6 (default, Jun 22 2015, 17:58:13) 
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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.
configuration ORB with hiro014:15005
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : None ( timeout 0 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 1 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 2 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 3 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 4 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 5 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 6 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 7 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 8 < 10)
[hrpsys.py] wait for RobotHardware0 : None ( timeout 9 < 10)
[hrpsys.py] Could not find RobotHardware0
---------------------------------------------------------------------------
TRANSIENT                                 Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    202             else:
    203                 filename = fname
--> 204             __builtin__.execfile(filename, *where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in <module>()
     73         args.modelfile = unknown[1]
     74     robot = hiro = hironx_client.HIRONX()
---> 75     robot.init(robotname=args.robot, url=args.modelfile)
     76 
     77     # ROS Client

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url)
    157         # reload for hrpsys 315.1.8
    158         HrpsysConfigurator.waitForModelLoader(self)
--> 159         HrpsysConfigurator.waitForRTCManagerAndRoboHardware(self, robotname=robotname)
    160         print self.configurator_name, "Hrpsys controller version info: "
    161         if self.ms :

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRTCManagerAndRoboHardware(self, robotname, managerhost)
    914         '''
    915         self.waitForRTCManager(managerhost)
--> 916         self.waitForRobotHardware(robotname)
    917         self.checkSimulationMode()
    918 

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRobotHardware(self, robotname)
    881             print(self.configurator_name + "Could not find " + robotname)
    882             if self.ms:
--> 883                 print(self.configurator_name + "Candidates are .... " + str([x.name()  for x in self.ms.get_components()]))
    884             print(self.configurator_name + "Exitting.... " + robotname)
    885             exit(1)

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in get_components(self)
    251     def get_components(self):
    252         cs = []
--> 253         crefs = self.ref.get_components()
    254         for cref in crefs:
    255             c = RTcomponent(cref)

/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/Manager_idl.pyc in get_components(self, *args)
    163 
    164     def get_components(self, *args):
--> 165         return _omnipy.invoke(self, "get_components", _0_RTM.Manager._d_get_components, args)
    166 
    167     def get_component_profiles(self, *args):

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)

この時、Hiroにsshでログインしてログを確認すると、以下のようになってました。

$ cat jsk/var/log/rtcd.log 
Logger::Logger: streambuf address = 0x805fc70
Memory fault (core dumped) 
$ pwd                       
/opt

なお、# make install前にコピーしておいたjskディレクトリと、現在のjskディレクトリを入れ替えて再起動すると、Hiro内部のログは以下のようになっていました。

$ cat /opt/jsk/var/log/rtcd.log 
Logger::Logger: streambuf address = 0x805fc70
hrpExecutionContext is registered
pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav
dof = 15
client: msg_no: _IO_MAX + 4
client: msg_reply:
rom # 4, soft # 300, 28/9/2011
serial # 5171, model # 129, cal day 28/9/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(Crom # 4, soft # 300, 4/10/2011
serial # 5172, model # 129, cal day 4/10/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(C
open_iob - shmif instance at 0x80ca0e8
the number of gyros = 0
the number of accelerometers = 0
the number of force sensors = 2
lhsensor
rhsensor
period = 5[ms], priority = 49

この時は、おそらく問題なく起動できているものと思われます。

k-okada commented 8 years ago

お，古いディレクトリに新しい所に出来たcollision detctorだけコピーするとどうなるかな．

◉ Kei Okada

On Fri, Feb 19, 2016 at 5:10 PM, pazeshun notifications@github.com wrote:

こないだ、

make install

がうまく行ったと思っていたのですが、再起動を忘れていたためのようで、起動してPCから接続しようとすると以下のようなログが出てきて接続が失敗しました。

$ ipython -i rospack find hironx_ros_bridge/scripts/hironx.py -- --host hiro014 Python 2.7.6 (default, Jun 22 2015, 17:58:13) Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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. configuration ORB with hiro014:15005 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware0 : None ( timeout 0 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 1 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 2 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 3 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 4 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 5 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 6 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 7 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 8 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 9 < 10)

[hrpsys.py] Could not find RobotHardware0

TRANSIENT Traceback (most recent call last) /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, where) 202 else: 203 filename = fname --> 204 builtin.execfile(filename, where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in () 73 args.modelfile = unknown[1] 74 robot = hiro = hironx_client.HIRONX() ---> 75 robot.init(robotname=args.robot, url=args.modelfile) 76 77 # ROS Client

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url) 157 # reload for hrpsys 315.1.8 158 HrpsysConfigurator.waitForModelLoader(self) --> 159 HrpsysConfigurator.waitForRTCManagerAndRoboHardware(self, robotname=robotname) 160 print self.configurator_name, "Hrpsys controller version info: " 161 if self.ms :

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRTCManagerAndRoboHardware(self, robotname, managerhost) 914 ''' 915 self.waitForRTCManager(managerhost) --> 916 self.waitForRobotHardware(robotname) 917 self.checkSimulationMode() 918

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRobotHardware(self, robotname) 881 print(self.configurator_name + "Could not find " + robotname) 882 if self.ms: --> 883 print(self.configurator_name + "Candidates are .... " + str([x.name() for x in self.ms.get_components()])) 884 print(self.configurator_name + "Exitting.... " + robotname) 885 exit(1)

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in get_components(self) 251 def get_components(self): 252 cs = [] --> 253 crefs = self.ref.get_components() 254 for cref in crefs: 255 c = RTcomponent(cref)

/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/Manager_idl.pyc in get_components(self, args) 163 164 def get_components(self, args): --> 165 return _omnipy.invoke(self, "get_components", _0_RTM.Manager._d_get_components, args) 166 167 def get_component_profiles(self, *args):

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)

この時、Hiroにsshでログインしてログを確認すると、以下のようになってました。

$ cat jsk/var/log/rtcd.log Logger::Logger: streambuf address = 0x805fc70 Memory fault (core dumped) $ pwd /opt

なお、# make install 前にコピーしておいたjskディレクトリと、現在のjskディレクトリを入れ替えて再起動すると、Hiro内部のログは以下のようになっていました。

$ cat /opt/jsk/var/log/rtcd.log Logger::Logger: streambuf address = 0x805fc70 hrpExecutionContext is registered pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav dof = 15 client: msg_no: _IO_MAX + 4 client: msg_reply: rom # 4, soft # 300, 28/9/2011 serial # 5171, model # 129, cal day 28/9/2011 Newton, Newton_meter_10, mm_10, 14 bits, 255 ch (Crom # 4, soft # 300, 4/10/2011 serial # 5172, model # 129, cal day 4/10/2011 Newton, Newton_meter_10, mm_10, 14 bits, 255 ch (C open_iob - shmif instance at 0x80ca0e8 the number of gyros = 0 the number of accelerometers = 0 the number of force sensors = 2 lhsensor rhsensor period = 5[ms], priority = 49

この時は、おそらく問題なく起動できているものと思われます。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-186111556 .

k-okada commented 8 years ago

後，古いディレクトリと新しいディレクトリで diff -r したい

◉ Kei Okada

On Fri, Feb 19, 2016 at 5:11 PM, Kei Okada k-okada@jsk.t.u-tokyo.ac.jp wrote:

お，古いディレクトリに新しい所に出来たcollision detctorだけコピーするとどうなるかな．

◉ Kei Okada

On Fri, Feb 19, 2016 at 5:10 PM, pazeshun notifications@github.com wrote:

こないだ、

make install

がうまく行ったと思っていたのですが、再起動を忘れていたためのようで、起動してPCから接続しようとすると以下のようなログが出てきて接続が失敗しました。

$ ipython -i rospack find hironx_ros_bridge/scripts/hironx.py -- --host hiro014 Python 2.7.6 (default, Jun 22 2015, 17:58:13) Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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. configuration ORB with hiro014:15005 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware0 : None ( timeout 0 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 1 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 2 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 3 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 4 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 5 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 6 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 7 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 8 < 10) [hrpsys.py] wait for RobotHardware0 : None ( timeout 9 < 10)

[hrpsys.py] Could not find RobotHardware0

TRANSIENT Traceback (most recent call last) /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, where) 202 else: 203 filename = fname --> 204 builtin.execfile(filename, where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in () 73 args.modelfile = unknown[1] 74 robot = hiro = hironx_client.HIRONX() ---> 75 robot.init(robotname=args.robot, url=args.modelfile) 76 77 # ROS Client

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url) 157 # reload for hrpsys 315.1.8 158 HrpsysConfigurator.waitForModelLoader(self) --> 159 HrpsysConfigurator.waitForRTCManagerAndRoboHardware(self, robotname=robotname) 160 print self.configurator_name, "Hrpsys controller version info: " 161 if self.ms :

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRTCManagerAndRoboHardware(self, robotname, managerhost) 914 ''' 915 self.waitForRTCManager(managerhost) --> 916 self.waitForRobotHardware(robotname) 917 self.checkSimulationMode() 918

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in waitForRobotHardware(self, robotname) 881 print(self.configurator_name + "Could not find " + robotname) 882 if self.ms: --> 883 print(self.configurator_name + "Candidates are .... " + str([x.name() for x in self.ms.get_components()])) 884 print(self.configurator_name + "Exitting.... " + robotname) 885 exit(1)

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in get_components(self) 251 def get_components(self): 252 cs = [] --> 253 crefs = self.ref.get_components() 254 for cref in crefs: 255 c = RTcomponent(cref)

/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/Manager_idl.pyc in get_components(self, args) 163 164 def get_components(self, args): --> 165 return _omnipy.invoke(self, "get_components", _0_RTM.Manager._d_get_components, args) 166 167 def get_component_profiles(self, *args):

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)

この時、Hiroにsshでログインしてログを確認すると、以下のようになってました。

$ cat jsk/var/log/rtcd.log Logger::Logger: streambuf address = 0x805fc70 Memory fault (core dumped) $ pwd /opt

なお、# make install 前にコピーしておいたjskディレクトリと、現在のjskディレクトリを入れ替えて再起動すると、Hiro内部のログは以下のようになっていました。

$ cat /opt/jsk/var/log/rtcd.log Logger::Logger: streambuf address = 0x805fc70 hrpExecutionContext is registered pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav dof = 15 client: msg_no: _IO_MAX + 4 client: msg_reply: rom # 4, soft # 300, 28/9/2011 serial # 5171, model # 129, cal day 28/9/2011 Newton, Newton_meter_10, mm_10, 14 bits, 255 ch (Crom # 4, soft # 300, 4/10/2011 serial # 5172, model # 129, cal day 4/10/2011 Newton, Newton_meter_10, mm_10, 14 bits, 255 ch (C open_iob - shmif instance at 0x80ca0e8 the number of gyros = 0 the number of accelerometers = 0 the number of force sensors = 2 lhsensor rhsensor period = 5[ms], priority = 49

この時は、おそらく問題なく起動できているものと思われます。

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-186111556 .

pazeshun commented 8 years ago

$ ldd /opt/jsk.20160219/lib/libhrpIo.so 
/opt/jsk.20160219/lib/libhrpIo.so:
    libhrpIo.so => /opt/jsk.20160219/lib/libhrpIo.so (0xb8200000)
    libboost_filesystem.so => /usr/pkg/lib/libboost_filesystem.so.1.42.0 (0xb820d000)
    libboost_thread.so => /usr/pkg/lib/libboost_thread.so.1.42.0 (0xb8225000)
    libboost_regex.so => /usr/pkg/lib/libboost_regex.so.1.42.0 (0xb823a000)
    libf2c.so => /usr/pkg/lib/libf2c.so (0xb8320000)
    libcpp.so.4 => /lib/libcpp.so.4 (0xb833d000)
    libboost_system.so => /usr/pkg/lib/libboost_system.so.1.42.0 (0xb83a3000)
    libm.so.2 => /lib/libm.so.2 (0xb83a7000)
$ ldd /opt/jsk/lib/libhrpIo.so           
/opt/jsk/lib/libhrpIo.so:
    libhrpIo.so => /opt/jsk/lib/libhrpIo.so (0xb8200000)
    libboost_system.so => /usr/pkg/lib/libboost_system.so.1.42.0 (0xb8219000)
    libboost_signals.so => /usr/pkg/lib/libboost_signals.so.1.42.0 (0xb821d000)
    libboost_filesystem.so => /usr/pkg/lib/libboost_filesystem.so.1.42.0 (0xb823a000)
    libboost_thread.so => /usr/pkg/lib/libboost_thread.so.1.42.0 (0xb8252000)
    libboost_regex.so => /usr/pkg/lib/libboost_regex.so.1.42.0 (0xb8267000)
    libf2c.so => /usr/pkg/lib/libf2c.so.0 (0xb834d000)
    libcpp.so.4 => /lib/libcpp.so.4 (0xb836a000)
    libm.so.2 => /lib/libm.so.2 (0xb83d0000)

pazeshun commented 8 years ago

/opt/jsk/src/hrpsys-base-source-315.1.7/cmake_modules/FindQuickHull.cmakeを以下のように編集してみました。

FIND_PATH(
QHULL_DIR
# NAMES include/qhull/qhull.h
# PATHS /usr /usr/local
NAMES include/libqhull/libqhull.h
PATHS /usr /usr/local /opt/jsk
DOC "the top directory of qhull")

IF ( QHULL_DIR )
    MESSAGE(STATUS "Found Qhull in ${QHULL_DIR}")
    set(QHULL_INCLUDE_DIR ${QHULL_DIR}/include)
    if (APPLE)
      set(QHULL_LIBRARIES qhull)
    else()
      set(QHULL_LIBRARIES qhull)
    endif()
    set(QHULL_FOUND true)
ELSE ( QHULL_INCLUDE_DIR )
    MESSAGE(STATUS "Qhull not found")
    set(QHULL_FOUND false)
ENDIF ( QHULL_DIR )

で、cmakeしようとしたのですが、以下のようなエラーが出てきました。

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7
-- Found OpenRTM-aist 1.1.0 in /opt/jsk
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
CMake Error at cmake_modules/FindOpenHRP.cmake:76 (message):
  OpenHRP required, please specify it's location.
Call Stack (most recent call first):
  CMakeLists.txt:38 (find_package)

-- Configuring incomplete, errors occurred!

k-okada commented 8 years ago

echo $PKG_CONFIG_PATH して，optがない気がするので，

export PKG_CONFIG_PATH=/opt/jsk/lib/pkgconfig:/usr/pkg/lib/pkgconfig;

みたいなかんじかな．

◉ Kei Okada

On Fri, Feb 19, 2016 at 7:44 PM, pazeshun notifications@github.com wrote:

/opt/jsk/src/hrpsys-base-source-315.1.7/cmake_modules/FindQuickHull.cmakeを以下のように編集してみました。

FIND_PATH( QHULL_DIR

NAMES include/qhull/qhull.h

PATHS /usr /usr/local

NAMES include/libqhull/libqhull.h PATHS /usr /usr/local /opt/jsk DOC "the top directory of qhull")

IF ( QHULL_DIR ) MESSAGE(STATUS "Found Qhull in ${QHULL_DIR}") set(QHULL_INCLUDE_DIR ${QHULL_DIR}/include) if (APPLE) set(QHULL_LIBRARIES qhull) else() set(QHULL_LIBRARIES qhull) endif() set(QHULL_FOUND true) ELSE ( QHULL_INCLUDE_DIR ) MESSAGE(STATUS "Qhull not found") set(QHULL_FOUND false) ENDIF ( QHULL_DIR )

で、cmakeしようとしたのですが、以下のようなエラーが出てきました。

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7 -- Found OpenRTM-aist 1.1.0 in /opt/jsk Package openhrp3.1 was not found in the pkg-config search path. Perhaps you should add the directory containing openhrp3.1.pc' to the PKG_CONFIG_PATH environment variable No package 'openhrp3.1' found Package openhrp3.1 was not found in the pkg-config search path. Perhaps you should add the directory containingopenhrp3.1.pc' to the PKG_CONFIG_PATH environment variable No package 'openhrp3.1' found Package openhrp3.1 was not found in the pkg-config search path. Perhaps you should add the directory containing openhrp3.1.pc' to the PKG_CONFIG_PATH environment variable No package 'openhrp3.1' found Package openhrp3.1 was not found in the pkg-config search path. Perhaps you should add the directory containingopenhrp3.1.pc' to the PKG_CONFIG_PATH environment variable No package 'openhrp3.1' found CMake Error at cmake_modules/FindOpenHRP.cmake:76 (message): OpenHRP required, please specify it's location. Call Stack (most recent call first): CMakeLists.txt:38 (find_package)

-- Configuring incomplete, errors occurred!

— Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

echo $PKG_CONFIG_PATHしても何も出てこなかったので、

$ export PKG_CONFIG_PATH=/opt/jsk/lib/pkgconfig:/usr/pkg/lib/pkgconfig; 
$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7

すると、

$ make
[ 32%] Built target hrpsysBaseStub
[ 32%] Built target hrpIo
[ 33%] Built target hrpEC
[ 34%] Built target NullComponent
[ 36%] Built target NullComponentComp
[ 37%] Built target RobotHardware
[ 39%] Built target RobotHardwareComp
[ 40%] Built target StateHolder
[ 42%] Built target StateHolderComp
[ 43%] Built target WavPlayer
[ 44%] Built target WavPlayerComp
[ 46%] Built target SequencePlayer
[ 49%] Built target SequencePlayerComp
[ 50%] Built target DataLogger
[ 51%] Built target DataLoggerComp
[ 52%] Built target ForwardKinematics
[ 53%] Built target ForwardKinematicsComp
[ 54%] Built target HGcontroller
[ 55%] Built target HGcontrollerComp
[ 55%] Built target Range2PointCloud
[ 56%] Built target Range2PointCloudComp
[ 57%] Built target ImpedanceController
[ 59%] Built target ImpedanceControllerComp
[ 62%] Built target AutoBalancer
[ 65%] Built target AutoBalancerComp
[ 67%] Built target testGaitGenerator
[ 68%] Built target testPreviewController
[ 70%] Built target SoftErrorLimiter
[ 72%] Built target SoftErrorLimiterComp
[ 73%] Built target VirtualForceSensor
[ 74%] Built target VirtualForceSensorComp
[ 75%] Built target GraspController
[ 76%] Built target GraspControllerComp
[ 77%] Built target TorqueFilter
[ 78%] Built target TorqueFilterComp
[ 79%] Built target KalmanFilter
[ 80%] Built target KalmanFilterComp
[ 82%] Built target Stabilizer
[ 85%] Built target StabilizerComp
[ 86%] Built target AbsoluteForceSensor
[ 87%] Built target AbsoluteForceSensorComp
[ 88%] Built target ServoController
[ 89%] Built target ServoControllerComp
[ 90%] Built target testServoSerial
[ 90%] Built target ThermoEstimator
[ 91%] Built target ThermoEstimatorComp
[ 92%] Built target ThermoLimiter
[ 94%] Built target ThermoLimiterComp
[ 96%] Built target TorqueController
[ 98%] Built target TorqueControllerComp
[100%] Built target testMotorTorqueController

となります。これ、CollisionDetector入ってないですよね

k-okada commented 8 years ago

cwd はどこになっている．既に一回cmakeされているかな？ catkin b --force-cmake 的なことをやらなければいけないので， CMakeFiles みたいなデレクトリの中のCollisionDetector のディレクトリを消してみて下さい．わからんければ cmake を打ったディレクトリで find | grep Collision してみて

◉ Kei Okada

On Fri, Feb 19, 2016 at 8:02 PM, pazeshun notifications@github.com wrote:

echo $PKG_CONFIG_PATHしても何も出てこなかったので、

$ export PKG_CONFIG_PATH=/opt/jsk/lib/pkgconfig:/usr/pkg/lib/pkgconfig; $ cmake /opt/jsk/src/hrpsys-base-source-315.1.7

すると、

$ make [ 32%] Built target hrpsysBaseStub [ 32%] Built target hrpIo [ 33%] Built target hrpEC [ 34%] Built target NullComponent [ 36%] Built target NullComponentComp [ 37%] Built target RobotHardware [ 39%] Built target RobotHardwareComp [ 40%] Built target StateHolder [ 42%] Built target StateHolderComp [ 43%] Built target WavPlayer [ 44%] Built target WavPlayerComp [ 46%] Built target SequencePlayer [ 49%] Built target SequencePlayerComp [ 50%] Built target DataLogger [ 51%] Built target DataLoggerComp [ 52%] Built target ForwardKinematics [ 53%] Built target ForwardKinematicsComp [ 54%] Built target HGcontroller [ 55%] Built target HGcontrollerComp [ 55%] Built target Range2PointCloud [ 56%] Built target Range2PointCloudComp [ 57%] Built target ImpedanceController [ 59%] Built target ImpedanceControllerComp [ 62%] Built target AutoBalancer [ 65%] Built target AutoBalancerComp [ 67%] Built target testGaitGenerator [ 68%] Built target testPreviewController [ 70%] Built target SoftErrorLimiter [ 72%] Built target SoftErrorLimiterComp [ 73%] Built target VirtualForceSensor [ 74%] Built target VirtualForceSensorComp [ 75%] Built target GraspController [ 76%] Built target GraspControllerComp [ 77%] Built target TorqueFilter [ 78%] Built target TorqueFilterComp [ 79%] Built target KalmanFilter [ 80%] Built target KalmanFilterComp [ 82%] Built target Stabilizer [ 85%] Built target StabilizerComp [ 86%] Built target AbsoluteForceSensor [ 87%] Built target AbsoluteForceSensorComp [ 88%] Built target ServoController [ 89%] Built target ServoControllerComp [ 90%] Built target testServoSerial [ 90%] Built target ThermoEstimator [ 91%] Built target ThermoEstimatorComp [ 92%] Built target ThermoLimiter [ 94%] Built target ThermoLimiterComp [ 96%] Built target TorqueController [ 98%] Built target TorqueControllerComp [100%] Built target testMotorTorqueController

となります。これ、CollisionDetector入ってないですよね

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-186172272 .

pazeshun commented 8 years ago

$ pwd
/opt/jsk/src/hrpsys-base-source-315.1.7
$ find | grep Collision  
./rtc/CollisionDetector
./rtc/CollisionDetector/.svn
./rtc/CollisionDetector/.svn/text-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetectorComp.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetector.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/GLscene.h.svn-base
./rtc/CollisionDetector/.svn/text-base/VclipLinkPair.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetectorViewer.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetectorService_impl.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/SetupCollisionPair.cpp.svn-base
./rtc/CollisionDetector/.svn/text-base/TimedPosture.h.svn-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetector.h.svn-base
./rtc/CollisionDetector/.svn/text-base/CMakeLists.txt.svn-base
./rtc/CollisionDetector/.svn/text-base/CollisionDetectorService_impl.h.svn-base
./rtc/CollisionDetector/.svn/text-base/VclipLinkPair.h.svn-base
./rtc/CollisionDetector/.svn/text-base/GLscene.cpp.svn-base
./rtc/CollisionDetector/.svn/prop-base
./rtc/CollisionDetector/.svn/props
./rtc/CollisionDetector/.svn/tmp
./rtc/CollisionDetector/.svn/tmp/text-base
./rtc/CollisionDetector/.svn/tmp/prop-base
./rtc/CollisionDetector/.svn/tmp/props
./rtc/CollisionDetector/.svn/dir-prop-base
./rtc/CollisionDetector/.svn/all-wcprops
./rtc/CollisionDetector/.svn/entries
./rtc/CollisionDetector/vclip_1.0
./rtc/CollisionDetector/vclip_1.0/.svn
./rtc/CollisionDetector/vclip_1.0/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/.svn/text-base/Makefile.svn-base
./rtc/CollisionDetector/vclip_1.0/.svn/text-base/ii_files.svn-base
./rtc/CollisionDetector/vclip_1.0/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/.svn/props
./rtc/CollisionDetector/vclip_1.0/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/.svn/entries
./rtc/CollisionDetector/vclip_1.0/ptrees
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/ring.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/sixspike.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/ring2.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/mitsu.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/grid.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/sphere.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/jack.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/simple.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/platonics.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/platonics2.pt.svn-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/props
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/entries
./rtc/CollisionDetector/vclip_1.0/ptrees/ring.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/sixspike.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/ring2.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/mitsu.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/grid.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/sphere.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/jack.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/simple.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/Readme
./rtc/CollisionDetector/vclip_1.0/ptrees/platonics.pt
./rtc/CollisionDetector/vclip_1.0/ptrees/platonics2.pt
./rtc/CollisionDetector/vclip_1.0/include
./rtc/CollisionDetector/vclip_1.0/include/.svn
./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/mv.h.svn-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/vclip.h.svn-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/props
./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/include/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/include/.svn/entries
./rtc/CollisionDetector/vclip_1.0/include/mv.h
./rtc/CollisionDetector/vclip_1.0/include/Readme
./rtc/CollisionDetector/vclip_1.0/include/vclip.h
./rtc/CollisionDetector/vclip_1.0/doc
./rtc/CollisionDetector/vclip_1.0/doc/.svn
./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/vclip.ps.svn-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/manual.ps.svn-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/props
./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/doc/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/doc/.svn/entries
./rtc/CollisionDetector/vclip_1.0/doc/vclip.ps
./rtc/CollisionDetector/vclip_1.0/doc/manual.ps
./rtc/CollisionDetector/vclip_1.0/doc/Readme
./rtc/CollisionDetector/vclip_1.0/lib
./rtc/CollisionDetector/vclip_1.0/lib/.svn
./rtc/CollisionDetector/vclip_1.0/lib/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/lib/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/lib/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/lib/.svn/props
./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/lib/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/lib/.svn/entries
./rtc/CollisionDetector/vclip_1.0/lib/Readme
./rtc/CollisionDetector/vclip_1.0/src
./rtc/CollisionDetector/vclip_1.0/src/.svn
./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/PolyTree.C.svn-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/vclip.C.svn-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/mv.C.svn-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/props
./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/src/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/src/.svn/entries
./rtc/CollisionDetector/vclip_1.0/src/PolyTree.C
./rtc/CollisionDetector/vclip_1.0/src/Readme
./rtc/CollisionDetector/vclip_1.0/src/vclip.C
./rtc/CollisionDetector/vclip_1.0/src/mv.C
./rtc/CollisionDetector/vclip_1.0/iv_examples
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/HpanedUI.h.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Hpaned.h.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/main.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/vcdemo.uil.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/VkwindowMainWindow.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/VkwindowMainWindow.h.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/inventorize.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/transformBoxDragger.iv.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Makefile.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/HpanedUI.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/materials.iv.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/vcdemo.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Hpaned.C.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/props
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/entries
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/mitsu.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/rings.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/stuff.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/grids.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/spheres.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/jacks.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/platonics.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/sixspike.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/lots.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/props
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/entries
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/mitsu.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/rings.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/stuff.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/grids.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/spheres.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/jacks.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/platonics.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/sixspike.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/lots.txt
./rtc/CollisionDetector/vclip_1.0/iv_examples/HpanedUI.h
./rtc/CollisionDetector/vclip_1.0/iv_examples/Hpaned.h
./rtc/CollisionDetector/vclip_1.0/iv_examples/main.C
./rtc/CollisionDetector/vclip_1.0/iv_examples/vcdemo.uil
./rtc/CollisionDetector/vclip_1.0/iv_examples/VkwindowMainWindow.C
./rtc/CollisionDetector/vclip_1.0/iv_examples/VkwindowMainWindow.h
./rtc/CollisionDetector/vclip_1.0/iv_examples/inventorize.C
./rtc/CollisionDetector/vclip_1.0/iv_examples/Readme
./rtc/CollisionDetector/vclip_1.0/iv_examples/transformBoxDragger.iv
./rtc/CollisionDetector/vclip_1.0/iv_examples/Makefile
./rtc/CollisionDetector/vclip_1.0/iv_examples/HpanedUI.C
./rtc/CollisionDetector/vclip_1.0/iv_examples/materials.iv
./rtc/CollisionDetector/vclip_1.0/iv_examples/vcdemo.C
./rtc/CollisionDetector/vclip_1.0/iv_examples/Hpaned.C
./rtc/CollisionDetector/vclip_1.0/examples
./rtc/CollisionDetector/vclip_1.0/examples/.svn
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/allpairs.C.svn-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/print.C.svn-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/Readme.svn-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/Makefile.svn-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/ap1.txt.svn-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/prop-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/props
./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp
./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/text-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/prop-base
./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/props
./rtc/CollisionDetector/vclip_1.0/examples/.svn/all-wcprops
./rtc/CollisionDetector/vclip_1.0/examples/.svn/entries
./rtc/CollisionDetector/vclip_1.0/examples/allpairs.C
./rtc/CollisionDetector/vclip_1.0/examples/print.C
./rtc/CollisionDetector/vclip_1.0/examples/Readme
./rtc/CollisionDetector/vclip_1.0/examples/Makefile
./rtc/CollisionDetector/vclip_1.0/examples/ap1.txt
./rtc/CollisionDetector/vclip_1.0/Readme
./rtc/CollisionDetector/vclip_1.0/Makefile
./rtc/CollisionDetector/vclip_1.0/ii_files
./rtc/CollisionDetector/CollisionDetectorComp.cpp
./rtc/CollisionDetector/CollisionDetector.cpp
./rtc/CollisionDetector/GLscene.h
./rtc/CollisionDetector/VclipLinkPair.cpp
./rtc/CollisionDetector/CollisionDetectorViewer.cpp
./rtc/CollisionDetector/CollisionDetectorService_impl.cpp
./rtc/CollisionDetector/SetupCollisionPair.cpp
./rtc/CollisionDetector/TimedPosture.h
./rtc/CollisionDetector/CollisionDetector.h
./rtc/CollisionDetector/CMakeLists.txt
./rtc/CollisionDetector/CollisionDetectorService_impl.h
./rtc/CollisionDetector/VclipLinkPair.h
./rtc/CollisionDetector/GLscene.cpp
./idl/.svn/text-base/CollisionDetectorService.idl.svn-base
./idl/CollisionDetectorService.idl
./idl/CMakeFiles/hrpsysBaseStub.dir/CollisionDetectorServiceSk.o
./idl/CMakeFiles/hrpsysBaseStub.dir/CollisionDetectorServiceDynSk.o
./idl/CollisionDetectorService.hh
./idl/CollisionDetectorServiceSk.cpp
./idl/CollisionDetectorServiceDynSk.cpp

/opt/jsk/src/hrpsys-base-source-315.1.7/rtc/CollisionDetectorしかない気がするのですが・・・

k-okada commented 8 years ago

cmakeってコマンドを打ったディレクトリでお願いします

◉ Kei Okada

2016/02/19 20:12、pazeshun notifications@github.com のメッセージ:

$ pwd /opt/jsk/src/hrpsys-base-source-315.1.7 $ find | grep Collision
./rtc/CollisionDetector ./rtc/CollisionDetector/.svn ./rtc/CollisionDetector/.svn/text-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetectorComp.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetector.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/GLscene.h.svn-base ./rtc/CollisionDetector/.svn/text-base/VclipLinkPair.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetectorViewer.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetectorService_impl.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/SetupCollisionPair.cpp.svn-base ./rtc/CollisionDetector/.svn/text-base/TimedPosture.h.svn-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetector.h.svn-base ./rtc/CollisionDetector/.svn/text-base/CMakeLists.txt.svn-base ./rtc/CollisionDetector/.svn/text-base/CollisionDetectorService_impl.h.svn-base ./rtc/CollisionDetector/.svn/text-base/VclipLinkPair.h.svn-base ./rtc/CollisionDetector/.svn/text-base/GLscene.cpp.svn-base ./rtc/CollisionDetector/.svn/prop-base ./rtc/CollisionDetector/.svn/props ./rtc/CollisionDetector/.svn/tmp ./rtc/CollisionDetector/.svn/tmp/text-base ./rtc/CollisionDetector/.svn/tmp/prop-base ./rtc/CollisionDetector/.svn/tmp/props ./rtc/CollisionDetector/.svn/dir-prop-base ./rtc/CollisionDetector/.svn/all-wcprops ./rtc/CollisionDetector/.svn/entries ./rtc/CollisionDetector/vclip_1.0 ./rtc/CollisionDetector/vclip_1.0/.svn ./rtc/CollisionDetector/vclip_1.0/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/.svn/text-base/Makefile.svn-base ./rtc/CollisionDetector/vclip_1.0/.svn/text-base/ii_files.svn-base ./rtc/CollisionDetector/vclip_1.0/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/.svn/props ./rtc/CollisionDetector/vclip_1.0/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/.svn/entries ./rtc/CollisionDetector/vclip_1.0/ptrees ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/ring.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/sixspike.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/ring2.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/mitsu.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/grid.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/sphere.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/jack.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/simple.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/platonics.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/text-base/platonics2.pt.svn-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/props ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/ptrees/.svn/entries ./rtc/CollisionDetector/vclip_1.0/ptrees/ring.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/sixspike.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/ring2.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/mitsu.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/grid.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/sphere.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/jack.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/simple.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/Readme ./rtc/CollisionDetector/vclip_1.0/ptrees/platonics.pt ./rtc/CollisionDetector/vclip_1.0/ptrees/platonics2.pt ./rtc/CollisionDetector/vclip_1.0/include ./rtc/CollisionDetector/vclip_1.0/include/.svn ./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/mv.h.svn-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/text-base/vclip.h.svn-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/props ./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/include/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/include/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/include/.svn/entries ./rtc/CollisionDetector/vclip_1.0/include/mv.h ./rtc/CollisionDetector/vclip_1.0/include/Readme ./rtc/CollisionDetector/vclip_1.0/include/vclip.h ./rtc/CollisionDetector/vclip_1.0/doc ./rtc/CollisionDetector/vclip_1.0/doc/.svn ./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/vclip.ps.svn-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/manual.ps.svn-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/props ./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/doc/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/doc/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/doc/.svn/entries ./rtc/CollisionDetector/vclip_1.0/doc/vclip.ps ./rtc/CollisionDetector/vclip_1.0/doc/manual.ps ./rtc/CollisionDetector/vclip_1.0/doc/Readme ./rtc/CollisionDetector/vclip_1.0/lib ./rtc/CollisionDetector/vclip_1.0/lib/.svn ./rtc/CollisionDetector/vclip_1.0/lib/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/lib/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/lib/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/lib/.svn/props ./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/lib/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/lib/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/lib/.svn/entries ./rtc/CollisionDetector/vclip_1.0/lib/Readme ./rtc/CollisionDetector/vclip_1.0/src ./rtc/CollisionDetector/vclip_1.0/src/.svn ./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/PolyTree.C.svn-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/vclip.C.svn-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/text-base/mv.C.svn-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/props ./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/src/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/src/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/src/.svn/entries ./rtc/CollisionDetector/vclip_1.0/src/PolyTree.C ./rtc/CollisionDetector/vclip_1.0/src/Readme ./rtc/CollisionDetector/vclip_1.0/src/vclip.C ./rtc/CollisionDetector/vclip_1.0/src/mv.C ./rtc/CollisionDetector/vclip_1.0/iv_examples ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/HpanedUI.h.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Hpaned.h.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/main.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/vcdemo.uil.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/VkwindowMainWindow.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/VkwindowMainWindow.h.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/inventorize.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/transformBoxDragger.iv.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Makefile.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/HpanedUI.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/materials.iv.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/vcdemo.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/text-base/Hpaned.C.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/props ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/iv_examples/.svn/entries ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/mitsu.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/rings.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/stuff.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/grids.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/spheres.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/jacks.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/platonics.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/sixspike.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/text-base/lots.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/props ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/.svn/entries ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/mitsu.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/rings.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/stuff.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/grids.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/spheres.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/jacks.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/platonics.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/sixspike.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/demos/lots.txt ./rtc/CollisionDetector/vclip_1.0/iv_examples/HpanedUI.h ./rtc/CollisionDetector/vclip_1.0/iv_examples/Hpaned.h ./rtc/CollisionDetector/vclip_1.0/iv_examples/main.C ./rtc/CollisionDetector/vclip_1.0/iv_examples/vcdemo.uil ./rtc/CollisionDetector/vclip_1.0/iv_examples/VkwindowMainWindow.C ./rtc/CollisionDetector/vclip_1.0/iv_examples/VkwindowMainWindow.h ./rtc/CollisionDetector/vclip_1.0/iv_examples/inventorize.C ./rtc/CollisionDetector/vclip_1.0/iv_examples/Readme ./rtc/CollisionDetector/vclip_1.0/iv_examples/transformBoxDragger.iv ./rtc/CollisionDetector/vclip_1.0/iv_examples/Makefile ./rtc/CollisionDetector/vclip_1.0/iv_examples/HpanedUI.C ./rtc/CollisionDetector/vclip_1.0/iv_examples/materials.iv ./rtc/CollisionDetector/vclip_1.0/iv_examples/vcdemo.C ./rtc/CollisionDetector/vclip_1.0/iv_examples/Hpaned.C ./rtc/CollisionDetector/vclip_1.0/examples ./rtc/CollisionDetector/vclip_1.0/examples/.svn ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/allpairs.C.svn-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/print.C.svn-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/Readme.svn-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/Makefile.svn-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/text-base/ap1.txt.svn-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/prop-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/props ./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp ./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/text-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/prop-base ./rtc/CollisionDetector/vclip_1.0/examples/.svn/tmp/props ./rtc/CollisionDetector/vclip_1.0/examples/.svn/all-wcprops ./rtc/CollisionDetector/vclip_1.0/examples/.svn/entries ./rtc/CollisionDetector/vclip_1.0/examples/allpairs.C ./rtc/CollisionDetector/vclip_1.0/examples/print.C ./rtc/CollisionDetector/vclip_1.0/examples/Readme ./rtc/CollisionDetector/vclip_1.0/examples/Makefile ./rtc/CollisionDetector/vclip_1.0/examples/ap1.txt ./rtc/CollisionDetector/vclip_1.0/Readme ./rtc/CollisionDetector/vclip_1.0/Makefile ./rtc/CollisionDetector/vclip_1.0/ii_files ./rtc/CollisionDetector/CollisionDetectorComp.cpp ./rtc/CollisionDetector/CollisionDetector.cpp ./rtc/CollisionDetector/GLscene.h ./rtc/CollisionDetector/VclipLinkPair.cpp ./rtc/CollisionDetector/CollisionDetectorViewer.cpp ./rtc/CollisionDetector/CollisionDetectorService_impl.cpp ./rtc/CollisionDetector/SetupCollisionPair.cpp ./rtc/CollisionDetector/TimedPosture.h ./rtc/CollisionDetector/CollisionDetector.h ./rtc/CollisionDetector/CMakeLists.txt ./rtc/CollisionDetector/CollisionDetectorService_impl.h ./rtc/CollisionDetector/VclipLinkPair.h ./rtc/CollisionDetector/GLscene.cpp ./idl/.svn/text-base/CollisionDetectorService.idl.svn-base ./idl/CollisionDetectorService.idl ./idl/CMakeFiles/hrpsysBaseStub.dir/CollisionDetectorServiceSk.o ./idl/CMakeFiles/hrpsysBaseStub.dir/CollisionDetectorServiceDynSk.o ./idl/CollisionDetectorService.hh ./idl/CollisionDetectorServiceSk.cpp ./idl/CollisionDetectorServiceDynSk.cpp — Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

そこで打ちました

k-okada commented 8 years ago

CMakeFilesみたいなディレクトリない？

◉ Kei Okada

2016/02/19 20:19、pazeshun notifications@github.com のメッセージ:

そこで打ちました

— Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

$ pwd
/opt/jsk/src/hrpsys-base-source-315.1.7
$ cd CMakeFiles/
$ ls -l
total 394
-rw-r--r--  1 hiro      users          1259 Jul 09  2014 CMakeCCompiler.cmake
-rw-r--r--  1 hiro      users          1375 Jul 09  2014 CMakeCXXCompiler.cmake
-rwxrwxr-x  1 hiro      users          5045 Jul 09  2014 CMakeDetermineCompilerABI_C.bin
-rwxrwxr-x  1 hiro      users          5339 Jul 09  2014 CMakeDetermineCompilerABI_CXX.bin
-rw-rw-r--  1 hiro      users          1056 Jul 09  2014 CMakeDirectoryInformation.cmake
-rw-rw-rw-  1 hiro      users          3073 Jul 09  2014 CMakeError.log
-rw-rw-rw-  1 hiro      users         15908 Jul 09  2014 CMakeOutput.log
-rw-rw-r--  1 hiro      users          1526 Feb 19 19:38 CMakeRuleHashes.txt
-rw-r--r--  1 hiro      users           340 Jul 09  2014 CMakeSystem.cmake
drwxrwxr-x  3 hiro      users          1024 Jan 19  2014 CMakeTmp
drwxrwxr-x  2 hiro      users          1024 Jan 19  2014 CompilerIdC
drwxrwxr-x  2 hiro      users          1024 Jan 19  2014 CompilerIdCXX
-rw-rw-r--  1 hiro      users          9423 Feb 19 19:38 Makefile.cmake
-rw-rw-r--  1 hiro      users        145475 Feb 19 19:38 Makefile2
-rw-rw-r--  1 hiro      users          4589 Feb 19 19:38 TargetDirectories.txt
-rw-rw-r--  1 hiro      users            85 Feb 19 19:38 cmake.check_cache
-rw-rw-r--  1 hiro      users             4 Feb 19 19:38 progress.marks

k-okada commented 8 years ago

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7 すたらなんてひょうじがでたの？

◉ Kei Okada

2016/02/19 20:22、pazeshun notifications@github.com のメッセージ:

$ pwd /opt/jsk/src/hrpsys-base-source-315.1.7 $ cd CMakeFiles/ $ ls -l total 394 -rw-r--r-- 1 hiro users 1259 Jul 09 2014 CMakeCCompiler.cmake -rw-r--r-- 1 hiro users 1375 Jul 09 2014 CMakeCXXCompiler.cmake -rwxrwxr-x 1 hiro users 5045 Jul 09 2014 CMakeDetermineCompilerABI_C.bin -rwxrwxr-x 1 hiro users 5339 Jul 09 2014 CMakeDetermineCompilerABI_CXX.bin -rw-rw-r-- 1 hiro users 1056 Jul 09 2014 CMakeDirectoryInformation.cmake -rw-rw-rw- 1 hiro users 3073 Jul 09 2014 CMakeError.log -rw-rw-rw- 1 hiro users 15908 Jul 09 2014 CMakeOutput.log -rw-rw-r-- 1 hiro users 1526 Feb 19 19:38 CMakeRuleHashes.txt -rw-r--r-- 1 hiro users 340 Jul 09 2014 CMakeSystem.cmake drwxrwxr-x 3 hiro users 1024 Jan 19 2014 CMakeTmp drwxrwxr-x 2 hiro users 1024 Jan 19 2014 CompilerIdC drwxrwxr-x 2 hiro users 1024 Jan 19 2014 CompilerIdCXX -rw-rw-r-- 1 hiro users 9423 Feb 19 19:38 Makefile.cmake -rw-rw-r-- 1 hiro users 145475 Feb 19 19:38 Makefile2 -rw-rw-r-- 1 hiro users 4589 Feb 19 19:38 TargetDirectories.txt -rw-rw-r-- 1 hiro users 85 Feb 19 19:38 cmake.check_cache -rw-rw-r-- 1 hiro users 4 Feb 19 19:38 progress.marks — Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7
-- Found OpenRTM-aist 1.1.0 in /opt/jsk
-- Found OpenHRP 3.1.5 in /opt/jsk
-- Found Qhull in /opt/jsk
-- checking for module 'opencv'
--   package 'opencv' not found
-- checking for module 'glew'
--   package 'glew' not found
-- checking for module 'opencv-2.3.1'
--   package 'opencv-2.3.1' not found
CMake Warning at CMakeLists.txt:111 (message):
  opencv not found

Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/DataLoggerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/StateHolderService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/RobotHardwareService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/WavPlayerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/SequencePlayerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ForwardKinematicsService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ExecutionProfileService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/OGMap3DService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/NullService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TimeKeeperService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/Img.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/HRPDataTypes.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/pointcloud.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ImpedanceControllerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/SoftErrorLimiterService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/CollisionDetectorService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/GraspControllerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TorqueFilterService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/KalmanFilterService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/VirtualForceSensorService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/StabilizerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/AutoBalancerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/AbsoluteForceSensorService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ServoControllerService.idl exists
Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TorqueControllerService.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ClockGenerator.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/CollisionDetector.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/Controller.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/DynamicsSimulator.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ModelLoader.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/OnlineViewer.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/OpenHRPCommon.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ViewSimulator.idl exists
Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/World.idl exists
CMake Warning (dev) at ec/hrpEC/CMakeLists.txt:4 (link_directories):
  This command specifies the relative path

    io

  as a link directory.

  Policy CMP0015 is not set: link_directories() treats paths relative to the
  source dir.  Run "cmake --help-policy CMP0015" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at rtc/RobotHardware/CMakeLists.txt:3 (link_directories):
  This command specifies the relative path

    io

  as a link directory.

  Policy CMP0015 is not set: link_directories() treats paths relative to the
  source dir.  Run "cmake --help-policy CMP0015" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Irrlicht not found
-- checking for module 'octomap'
--   package 'octomap' not found
CMake Warning at test/CMakeLists.txt:29 (message):
  GTest not found; C++ tests will fail to build.

-- Configuring done
-- Generating done
-- Build files have been written to: /opt/jsk/src/hrpsys-base-source-315.1.7

k-okada commented 8 years ago

CollisionDetectorのCMakeLists.txtに message("hoge hoge") と書いてデバッグかな。

◉ Kei Okada

2016/02/19 20:26、pazeshun notifications@github.com のメッセージ:

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7 -- Found OpenRTM-aist 1.1.0 in /opt/jsk -- Found OpenHRP 3.1.5 in /opt/jsk -- Found Qhull in /opt/jsk -- checking for module 'opencv' -- package 'opencv' not found -- checking for module 'glew' -- package 'glew' not found -- checking for module 'opencv-2.3.1' -- package 'opencv-2.3.1' not found CMake Warning at CMakeLists.txt:111 (message): opencv not found

Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/DataLoggerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/StateHolderService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/RobotHardwareService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/WavPlayerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/SequencePlayerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ForwardKinematicsService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ExecutionProfileService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/OGMap3DService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/NullService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TimeKeeperService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/Img.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/HRPDataTypes.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/pointcloud.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ImpedanceControllerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/SoftErrorLimiterService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/CollisionDetectorService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/GraspControllerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TorqueFilterService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/KalmanFilterService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/VirtualForceSensorService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/StabilizerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/AutoBalancerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/AbsoluteForceSensorService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/ServoControllerService.idl exists Check if /opt/jsk/src/hrpsys-base-source-315.1.7/idl/TorqueControllerService.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ClockGenerator.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/CollisionDetector.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/Controller.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/DynamicsSimulator.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ModelLoader.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/OnlineViewer.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/OpenHRPCommon.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/ViewSimulator.idl exists Check if /opt/jsk/share/OpenHRP-3.1/idl/OpenHRP/World.idl exists CMake Warning (dev) at ec/hrpEC/CMakeLists.txt:4 (link_directories): This command specifies the relative path
io
as a link directory.

Policy CMP0015 is not set: link_directories() treats paths relative to the source dir. Run "cmake --help-policy CMP0015" for policy details. Use the cmake_policy command to set the policy and suppress this warning. This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at rtc/RobotHardware/CMakeLists.txt:3 (link_directories): This command specifies the relative path
io
as a link directory.

Policy CMP0015 is not set: link_directories() treats paths relative to the source dir. Run "cmake --help-policy CMP0015" for policy details. Use the cmake_policy command to set the policy and suppress this warning. This warning is for project developers. Use -Wno-dev to suppress it.

-- Irrlicht not found -- checking for module 'octomap' -- package 'octomap' not found CMake Warning at test/CMakeLists.txt:29 (message): GTest not found; C++ tests will fail to build.

-- Configuring done -- Generating done -- Build files have been written to: /opt/jsk/src/hrpsys-base-source-315.1.7 — Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

わかりました。もう帰らないといけないので、来週やります。

k-okada commented 8 years ago

はい。了解。

◉ Kei Okada

2016/02/19 20:32、pazeshun notifications@github.com のメッセージ:

わかりました。もう帰らないといけないので、来週やります。

— Reply to this email directly or view it on GitHub.

pazeshun commented 8 years ago

$ cat /opt/jsk/src/hrpsys-base-source-315.1.7/rtc/CMakeLists.txt

すると、

add_subdirectory(NullComponent)
add_subdirectory(RobotHardware)
add_subdirectory(StateHolder)
add_subdirectory(WavPlayer)
add_subdirectory(SequencePlayer)
add_subdirectory(DataLogger)
if (NOT QNXNTO)
  add_subdirectory(Joystick)
  add_subdirectory(Joystick2Velocity2D)
  add_subdirectory(Joystick2Velocity3D)
  add_subdirectory(Joystick2PanTiltAngles)
endif()
add_subdirectory(ForwardKinematics)
add_subdirectory(HGcontroller)
add_subdirectory(Range2PointCloud)
add_subdirectory(ImpedanceController)
add_subdirectory(AutoBalancer)
add_subdirectory(SoftErrorLimiter)
add_subdirectory(VirtualForceSensor)
add_subdirectory(GraspController)
add_subdirectory(TorqueFilter)
add_subdirectory(KalmanFilter)
add_subdirectory(Stabilizer)
add_subdirectory(AbsoluteForceSensor)
add_subdirectory(ServoController)
add_subdirectory(ThermoEstimator)
add_subdirectory(ThermoLimiter)
add_subdirectory(TorqueController)
if (USE_HRPSYSUTIL)
  add_subdirectory(Viewer)
  add_subdirectory(CameraImageViewer)
  add_subdirectory(JpegDecoder)
  add_subdirectory(VirtualCamera)
  add_subdirectory(Simulator)
  if (QHULL_FOUND)
    add_subdirectory(CollisionDetector)
  endif()
endif()

if (NOT APPLE AND USE_HRPSYSUTIL)
  add_subdirectory(VideoCapture)
endif()

find_package(Irrlicht)
if (IRRLICHT_FOUND AND USE_HRPSYSUTIL)
  add_subdirectory(OGMap3DViewer)
endif()

# Octomap
pkg_check_modules(OCTOMAP octomap)
if (OCTOMAP_FOUND)
  add_subdirectory(OccupancyGridMap3D)
endif()

set(EXTRA_RTC_DIRS "" CACHE PATH "directories of extra RTCs")
foreach(rtc_dir ${EXTRA_RTC_DIRS})
  add_subdirectory(${rtc_dir} ${rtc_dir})
endforeach()

と出てきました。これをみると、USE_HRPSYSUTILがtrueでないと、CollisionDetectorが読み込まれないことがわかります。

$ cat /opt/jsk/src/hrpsys-base-source-315.1.7/CMakeLists.txt

すると、

cmake_minimum_required(VERSION 2.4)

if(COMMAND cmake_policy)
  cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules/)

include(FindPkgConfig)
include(CheckIncludeFiles)

option(ENABLE_INSTALL_RPATH "Enable RPATH setting for installed binary files" OFF)

set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# commands
if(UNIX)
  set(RMDIR rm -fr)
  set(CPSEP ":")
elseif(WIN32)
  set(RMDIR rmdir /S/Q)
  set(CPSEP ";")
endif()

# shell script file suffix
if(UNIX)
  set(SH_SFX "sh")
elseif(WIN32)
  set(SH_SFX "bat")
endif()

# OpenRTM-aist(>= 1.0.0)    
find_package(OpenRTM REQUIRED)

# OpenHRP
find_package(OpenHRP REQUIRED)
include_directories(${OPENHRP_INCLUDE_DIRS})
link_directories(${OPENHRP_LIBRARY_DIRS})
if(UNIX)
    add_definitions(${OPENHRP_DEFINITIONS})
endif()

include_directories(${PROJECT_SOURCE_DIR}/lib)
include_directories(${CMAKE_BINARY_DIR}/idl)

if(ENABLE_INSTALL_RPATH)
  set(CMAKE_INSTALL_RPATH "$ORIGIN/../lib:$ORIGIN/../../../lib:${OPENHRP_LIBRARY_DIRS}")
endif()

option(COMPILE_JAVA_STUFF "Compile java stuff" ON)
if(COMPILE_JAVA_STUFF)
  set(JAVAC javac)
  set(JAR jar)
  set(IDLJ idlj)
  set(idlj_flags -fclient -fserver -emitAll -td src)
  if (NOT DEFINED Java_VERSION_MAJOR)
    execute_process(COMMAND ${JAVAC} -version ERROR_VARIABLE jvar ERROR_STRIP_TRAILING_WHITESPACE)
    STRING( REGEX REPLACE "javac " "" Java_VERSION_STRING "${jvar}" )
    # following regex pulled from cmake-2.8 FindJava.cmake
    STRING( REGEX REPLACE "([0-9]+).*"          "\\1" Java_VERSION_MAJOR "${Java_VERSION_STRING}" )
    STRING( REGEX REPLACE "[0-9]+\\.([0-9]+).*" "\\1" Java_VERSION_MINOR "${Java_VERSION_STRING}" )
  endif()
  set(javac_flags -target ${Java_VERSION_MAJOR}.${Java_VERSION_MINOR} -d . -sourcepath src)
endif()

if(NOT CMAKE_BUILD_TYPE)
  set(
    CMAKE_BUILD_TYPE Release CACHE STRING
    "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
    FORCE)
endif()

set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)

set(CPACK_PACKAGE_NAME hrpsys-base)
set(CPACK_PACKAGE_VENDOR "AIST")
set(CPACK_PACKAGE_CONTACT "Fumio Kanehiro <f-kanehiro@aist.go.jp>")
set(CPACK_PACKAGE_VERSION_MAJOR 315)
set(CPACK_PACKAGE_VERSION_MINOR 1)
set(CPACK_PACKAGE_VERSION_PATCH 7)
execute_process(
  COMMAND date +%Y%m%d%H%M
  OUTPUT_VARIABLE CPACK_PACKAGE_DATE
  RESULT_VARIABLE RESULT
  OUTPUT_STRIP_TRAILING_WHITESPACE)
set(CPACK_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}-${CPACK_PACKAGE_DATE})
set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE i386)
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE-en.txt")
set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}${OPENHRP_VERSION_ADD_TAIL}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
#set(CPACK_DEBIAN_PACKAGE_DEPENDS "libxml2,libcv4,libcvaux4,libhighgui4,libsdl1.2debian,libglut3,libxmu6,libirrlicht1.7")
set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA postinst)
if(UNIX)
  set(CPACK_PACKAGING_INSTALL_PREFIX "/usr" CACHE PATH "The root directory of the package")
endif()
include(CPack)

find_package(LibXml2 REQUIRED)
find_package(QuickHull REQUIRED)
find_package(SDL)
find_package(OpenGL)
find_package(GLUT)
include(FindPkgConfig)
pkg_check_modules(OpenCV opencv)
pkg_check_modules(GLEW glew)
if (NOT OpenCV_FOUND)
  pkg_check_modules(OpenCV opencv-2.3.1)
  if (NOT OpenCV_FOUND)
    message(WARNING "opencv not found")
  endif()
endif()
if(OpenCV_FOUND AND OPENGL_FOUND AND GLEW_FOUND AND GLUT_FOUND AND SDL_FOUND)
  set(USE_HRPSYSUTIL true)
else()
  set(USE_HRPSYSUTIL false)
endif()

include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
if(NOT QNXNTO)
  find_package(Eigen REQUIRED)
  include_directories(${Eigen_INCLUDE_DIRS})
endif()

execute_process(
  COMMAND python -c "from distutils import sysconfig; print sysconfig.get_config_var(\"VERSION\")"
  OUTPUT_VARIABLE PYTHON_VERSION
  OUTPUT_STRIP_TRAILING_WHITESPACE)
set(python_dist_pkg_dir ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION}/dist-packages)

configure_file(hrpsys-base.pc.in ${CMAKE_CURRENT_BINARY_DIR}/hrpsys-base.pc @ONLY)
install(FILES
  ${CMAKE_CURRENT_BINARY_DIR}/hrpsys-base.pc
  DESTINATION lib/pkgconfig)

if(COMPILE_JAVA_STUFF)
  add_subdirectory(jython)
endif()
add_subdirectory(python)
add_subdirectory(idl)
add_subdirectory(lib)
add_subdirectory(ec)
add_subdirectory(rtc)
option(ENABLE_DOXYGEN "Use Doxygen" ON)
if(ENABLE_DOXYGEN)
  add_subdirectory(doc)
endif()
if (NOT QNXNTO)
  add_subdirectory(util)
endif()
add_subdirectory(sample)
add_subdirectory(test)

となります、USE_HRPSYSUTILがtrueになる条件は、OpenCVやOpenGL、GLEW、GLUT、SDLが存在することであるとわかります。

$ cmake /opt/jsk/src/hrpsys-base-source-315.1.7

した時の表示を読むと、OpenCVとかが見つかっていないことがわかるので、これが原因でCollision Detectorがビルドできないことがわかりました。

pazeshun commented 7 years ago

現在、makeを行った時に出てくるエラーは以下のようになります。

Linking CXX shared library ../../lib/CollisionDetector.so
[ 96%] Built target CollisionDetector
Scanning dependencies of target CollisionDetectorComp
[ 97%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetectorComp.o
[ 97%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/__/SequencePlayer/interpolator.o
[ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetector.o
[ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetectorService_impl.o
[ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/VclipLinkPair.o
[ 99%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/__/__/lib/util/BVutil.o
[ 99%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/vclip.o
[100%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/PolyTree.o
[100%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/mv.o
Linking CXX executable ../../bin/CollisionDetectorComp
CMakeFiles/CollisionDetectorComp.dir/__/__/lib/util/BVutil.o: In function `convertToConvexHull(hrp::Link*)':
BVutil.cpp:(.text+0x564): undefined reference to `qh_new_qhull(int, int, double*, unsigned int, char*, _Filet*, _Filet*)'
BVutil.cpp:(.text+0x571): undefined reference to `qh_triangulate()'
BVutil.cpp:(.text+0x576): undefined reference to `qh_vertexneighbors()'
BVutil.cpp:(.text+0x60a): undefined reference to `qh_facet3vertex(facetT*)'
BVutil.cpp:(.text+0x647): undefined reference to `qh_pointid(double*)'
BVutil.cpp:(.text+0x6e9): undefined reference to `qh_freeqhull(unsigned int)'
BVutil.cpp:(.text+0x6fb): undefined reference to `qh_memfreeshort(int*, int*)'
BVutil.cpp:(.text+0x7c7): undefined reference to `qh_pointid(double*)'
cc: /usr/qnx650/host/qnx6/x86/usr/bin/ntox86-ld error 1
make[2]: *** [bin/CollisionDetectorComp] Error 1
make[1]: *** [rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/all] Error 2
make: *** [all] Error 2

k-okada commented 7 years ago

すっかり忘れているけど，libqp を link しているかな． make VERBOSE=1 で link (ld)しているところを探そう．

◉ Kei Okada

On Tue, Sep 6, 2016 at 6:41 PM, pazeshun notifications@github.com wrote:

現在、makeを行った時に出てくるエラーは以下のようになります。

Linking CXX shared library ../../lib/CollisionDetector.so [ 96%] Built target CollisionDetector Scanning dependencies of target CollisionDetectorComp [ 97%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetectorComp.o [ 97%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir//SequencePlayer/interpolator.o [ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetector.o [ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/CollisionDetectorService_impl.o [ 98%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/VclipLinkPair.o [ 99%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir///lib/util/BVutil.o [ 99%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/vclip.o [100%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/PolyTree.o [100%] Building CXX object rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/vclip_1.0/src/mv.o Linking CXX executable ../../bin/CollisionDetectorComp CMakeFiles/CollisionDetectorComp.dir//__/lib/util/BVutil.o: In function convertToConvexHull(hrp::Link*)': BVutil.cpp:(.text+0x564): undefined reference toqh_newqhull(int, int, double, unsigned int, char_, Filet, Filet)' BVutil.cpp:(.text+0x571): undefined reference to qh_triangulate()' BVutil.cpp:(.text+0x576): undefined reference toqh_vertexneighbors()' BVutil.cpp:(.text+0x60a): undefined reference to qh_facet3vertex(facetT*)' BVutil.cpp:(.text+0x647): undefined reference toqhpointid(double)' BVutil.cpp:(.text+0x6e9): undefined reference to qh_freeqhull(unsigned int)' BVutil.cpp:(.text+0x6fb): undefined reference toqhmemfreeshort(int, int_)' BVutil.cpp:(.text+0x7c7): undefined reference to `qhpointid(double)' cc: /usr/qnx650/host/qnx6/x86/usr/bin/ntox86-ld error 1 make[2]: * [bin/CollisionDetectorComp] Error 1 make[1]: * [rtc/CollisionDetector/CMakeFiles/CollisionDetectorComp.dir/all] Error 2 make: *\ [all] Error 2

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-244901191, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3Pi9lJVpVdoCZH8HvYh3imSI_Iciks5qnTVGgaJpZM4HKIzB .

pazeshun commented 7 years ago

linkはできてます。 https://github.com/NIRALUser/ARCTIC/blob/master/itkEMS/qhull/qhull_interface.cpp#L8-L42 を読むと、 https://github.com/fkanehiro/hrpsys-base/blob/master/lib/util/BVutil.cpp#L2-L4 のように書くのは間違いみたいです。そこで、BVutil.cppの冒頭を以下のように修正してみたところ、ビルドが通りました。

#include <iostream>
//extern "C" {
//#include <libqhull/qhull_a.h>
//}
#if defined(__cplusplus)
extern "C"
{
#endif
#include <stdio.h>
#include <stdlib.h>
#include <libqhull/libqhull.h>
#include <libqhull/mem.h>
#include <libqhull/qset.h>
#include <libqhull/geom.h>
#include <libqhull/merge.h>
#include <libqhull/poly.h>
#include <libqhull/io.h>
#include <libqhull/stat.h>
#if defined(__cplusplus)
}
#endif
#include <hrpModel/Link.h>
#include "BVutil.h"

これでinstallしてみて、動くかやってみます。

k-okada commented 7 years ago

実機がうごいたらでいいけど In MVC とかいてあるから原因は違うと思う qhull_a.hを見て見て

2016年9月6日火曜日、pazeshunnotifications@github.comさんは書きました:

linkはできてます。 https://github.com/NIRALUser/ARCTIC/blob/master/itkEMS/ qhull/qhull_interface.cpp#L8-L42 を読むと、 https://github.com/fkanehiro/ hrpsys-base/blob/master/lib/util/BVutil.cpp#L2-L4 のように書くのは間違いみたいです。そこで、BVutil.cppの冒頭を以下のように修正してみたところ、ビルドが通りました。

include

//extern "C" { //#include <libqhull/qhull_a.h> //}

if defined(__cplusplus)

extern "C" {

endif

include

include

include <libqhull/libqhull.h>

include <libqhull/mem.h>

include <libqhull/qset.h>

include <libqhull/geom.h>

include <libqhull/merge.h>

include <libqhull/poly.h>

include <libqhull/io.h>

include <libqhull/stat.h>

if defined(__cplusplus)

}

endif

include <hrpModel/Link.h>

include "BVutil.h"

これでinstallしてみて、動くかやってみます。

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-244907698, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3Jx-YGDuu8UOEWs73nAb2Rem4zRUks5qnTwvgaJpZM4HKIzB .

◉ Kei Okada

pazeshun commented 7 years ago

In MVCとはどこのことでしょうか？

k-okada commented 7 years ago

https://github.com/NIRALUser/ARCTIC/blob/master/itkEMS/qhull/qhull_interface.cpp#L10

2016年9月6日火曜日、pazeshunnotifications@github.comさんは書きました:

In MVCとはどこのことでしょうか？

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-244909719, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3OwsUmhHPZQB30PqYT1Q3W6A42jsks5qnT5ogaJpZM4HKIzB .

◉ Kei Okada

pazeshun commented 7 years ago

MVCのくだりを見落としていました。ですが、私の記憶では、extern "C"をした場合にmath.h内の関数でエラーが出るという症状がHiroでも発生して、そこで時間切れになったように思います。なので、この解決策が使えると考えて実装してみた次第です。なお、rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.pyがデフォルトの状態で手元PCからHiroに接続すると動きましたが、CollisionDetectorを入れて動かして見たところ、以下のようにエラーが出て、Hiroを動かせませんでした。

$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py -- --host hiro014
Python 2.7.6 (default, Jun 22 2015, 17:58:13) 
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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.
configuration ORB with hiro014:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7feb3c3405f0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7feb3c3405f0> isActive? = False 
[hrpsys.py] simulation_mode : False
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7feb3c340248>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7feb3c340560>
[hrpsys.py]    version  =  1.0
;;
;; Loading ImpedanceController < 315.1.9
;;
[hrpsys.py]   bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[hrpsys.py] no hrpsys components found running. creating now
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7feb3c352758> (1.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7feb3c354248>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353638> (1.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7feb3c36e5a8>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7feb3c354320> (1.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7feb3c34f4d0>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353488> (1.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7feb3c363518>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7feb3c34f200> (1.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7feb3c352320>
[hrpsys.py]   eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co")
[hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x7feb3c35efc8> (1.0)
[hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x7feb3c352908>
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353bd8> (1.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7feb3c34ff80>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7feb3c35e950> (1.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7feb3c34fb48>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo")
[hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7feb3c356bd8> (1.0)
[hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7feb3c363bd8>
[hrpsys.py] connecting hrpsys components
[rtm.py]    Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - co.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect co.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - RobotHardware0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Connect RobotHardware0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - co.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect RobotHardware0.servoState to None([None])
[rtm.py]    Connect RobotHardware0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating hrpsys components
---------------------------------------------------------------------------
COMM_FAILURE                              Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    202             else:
    203                 filename = fname
--> 204             __builtin__.execfile(filename, *where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in <module>()
     74         args.modelfile = unknown[1]
     75     robot = hiro = hironx_client.HIRONX()
---> 76     robot.init(robotname=args.robot, url=args.modelfile)
     77 
     78     # ROS Client

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in init(self, robotname, url)
    324 
    325             print(self.configurator_name + "activating hrpsys components")
--> 326             self.activateComps()
    327 
    328             print(self.configurator_name + "setup hrpsys logger")

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in activateComps(self)
    539         rtm.serializeComponents(rtcList)
    540         for r in rtcList:
--> 541             r.start()
    542 
    543     def deactivateComps(self):

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in start(self, ec, timeout)
    109             tm = 0
    110             while tm < timeout:
--> 111                 if self.isActive(ec):
    112                     return True
    113                 time.sleep(0.01)

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in isActive(self, ec)
    153     # \retval 0 this component is not active
    154     def isActive(self, ec=None):
--> 155         return RTC.ACTIVE_STATE == self.getLifeCycleState(ec)
    156 
    157     ##

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in getLifeCycleState(self, ec)
    143             ec = self.ec
    144         if ec != None:
--> 145             return ec.get_component_state(self.ref)
    146         else:
    147             return None

/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.pyc in get_component_state(self, *args)
    344 
    345     def get_component_state(self, *args):
--> 346         return _omnipy.invoke(self, "get_component_state", _0_RTC.ExecutionContext._d_get_component_state, args)
    347 
    348     def get_kind(self, *args):

COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

In [1]: robot.ch
robot.checkEncoders        robot.checkSimulationMode  

In [1]: robot.checkEncoders()
---------------------------------------------------------------------------
OBJECT_NOT_EXIST                          Traceback (most recent call last)
<ipython-input-1-31fc19e38361> in <module>()
----> 1 robot.checkEncoders()

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in checkEncoders(self, jname, option)
    783                         "-overwrite": Overwrite calibration value.
    784         '''
--> 785         if self.isServoOn():
    786             waitInputConfirm('Servo must be off for calibration')
    787             return

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in isServoOn(self, jname)
    584             return True
    585         else:
--> 586             s_s = self.getActualState().servoState
    587             if jname.lower() == 'any' or jname.lower() == 'all':
    588                 for s in s_s:

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in getActualState(self)
   1648         \endverbatim
   1649         '''
-> 1650         return self.rh_svc.getStatus()
   1651 
   1652     def isCalibDone(self):

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/RobotHardwareService_idl.py in getStatus(self, *args)
    231 
    232     def getStatus(self, *args):
--> 233         return _omnipy.invoke(self, "getStatus", _0_OpenHRP.RobotHardwareService._d_getStatus, args)
    234 
    235     def power(self, *args):

OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO)

いろいろ忘れているので、思い出しながら作業します。

pazeshun commented 7 years ago

CollisionDetector入れなかった時は以下のようなログになります。

$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py -- --host hiro014
Python 2.7.6 (default, Jun 22 2015, 17:58:13) 
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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.
configuration ORB with hiro014:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efc55f0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efc55f0> isActive? = False 
[hrpsys.py] simulation_mode : False
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7f1e0efc5248>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7f1e0efc5560>
[hrpsys.py]    version  =  1.0
;;
;; Loading ImpedanceController < 315.1.9
;;
[hrpsys.py]   bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[hrpsys.py] no hrpsys components found running. creating now
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd7950> (1.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f1e0efd9248>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd88c0> (1.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f1e0eff55a8>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd9368> (1.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f1e0efd44d0>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd8c68> (1.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f1e0efe8518>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd4908> (1.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f1e0efd7320>
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efe3560> (1.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7f1e0efd98c0>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd8b48> (1.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f1e0efdbe18>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo")
[hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7f1e0efd40e0> (1.0)
[hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7f1e0efe8d40>
[hrpsys.py] connecting hrpsys components
[rtm.py]    Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - RobotHardware0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Connect RobotHardware0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect RobotHardware0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating hrpsys components
[hrpsys.py] setup hrpsys logger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to RobotHardware0_q
[rtm.py]    Connect RobotHardware0.q - log.RobotHardware0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = dq to RobotHardware0_dq
[rtm.py]    Connect RobotHardware0.dq - log.RobotHardware0_dq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to RobotHardware0_tau
[rtm.py]    Connect RobotHardware0.tau - log.RobotHardware0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensor to RobotHardware0_rhsensor
[rtm.py]    Connect RobotHardware0.rhsensor - log.RobotHardware0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensor to RobotHardware0_lhsensor
[rtm.py]    Connect RobotHardware0.lhsensor - log.RobotHardware0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py]    Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py]    Connect el.q - log.el_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]    Connect RobotHardware0.emergencySignal - log.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to RobotHardware0_servoState
[rtm.py]    Failed to connect RobotHardware0.servoState to None([None])
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setup joint groups for hrpsys controller
[hrpsys.py] initialized successfully
---------------------------------------------------------------------------
ROSInitException                          Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    202             else:
    203                 filename = fname
--> 204             __builtin__.execfile(filename, *where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in <module>()
     78     # ROS Client
     79     try:
---> 80         ros = ROS_Client()
     81     except socket.error as e:
     82         print("\033[31m%s\033[0m" % (e.strerror))

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/ros_client.pyc in __init__(self, jointgroups)
     84         except socket.error as e:
     85             errormsg = '[ros_client] ros master is not running, so do not create ros client...'
---> 86             raise ROSInitException(errormsg)
     87         except Exception as e:
     88             errormsg = '[ros_client] Unknown exception occurred, so do not create ros client...'

ROSInitException: [ros_client] ros master is not running, so do not create ros client...

k-okada commented 7 years ago

なるほどということは先にmath.hをincludeすればよさそうだね

エラーはqnx側の/opt/jsk/var/log/rtcd.log みたいなところを見よう

2016年9月6日火曜日、pazeshun<notifications@github.com javascript:_e(%7B%7D,'cvml','notifications@github.com');>さんは書きました:

MVCのくだりを見落としていました。ですが、私の記憶では、extern "C"をした場合にmath.h内の関数でエラーが出るという症状がHiroでも発生して、そこで時間切れになったように思います。なので、この解決策が使えると考えて実装してみた次第です。なお、rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hir onx_client.pyがデフォルトの状態で手元PCからHiroに接続すると動きましたが、CollisionDetec torを入れて動かして見たところ、以下のようにエラーが出て、Hiroを動かせませんでした。

$ ipython -i rospack find hironx_ros_bridge/scripts/hironx.py -- --host hiro014 Python 2.7.6 (default, Jun 22 2015, 17:58:13) Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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. configuration ORB with hiro014:15005 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7feb3c3405f0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7feb3c3405f0> isActive? = False [hrpsys.py] simulation_mode : False [hrpsys.py] Hrpsys controller version info: [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7feb3c340248> [hrpsys.py] ref = <RTM._objref_Manager instance at 0x7feb3c340560> [hrpsys.py] version = 1.0 ;; ;; Loading ImpedanceController < 315.1.9 ;; [hrpsys.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [hrpsys.py] no hrpsys components found running. creating now [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7feb3c352758> (1.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7feb3c354248> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353638> (1.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7feb3c36e5a8> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7feb3c354320> (1.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7feb3c34f4d0> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353488> (1.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7feb3c363518> [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7feb3c34f200> (1.0) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7feb3c352320> [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") [hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x7feb3c35efc8> (1.0) [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x7feb3c352908> [hrpsys.py] eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc") [hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7feb3c353bd8> (1.0) [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7feb3c34ff80> [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7feb3c35e950> (1.0) [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7feb3c34fb48> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo") [hrpsys.py] create Comp -> AbsoluteForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7feb3c356bd8> (1.0) [hrpsys.py] create CompSvc -> AbsoluteForceSensor Service : <OpenHRP._objref_AbsoluteForceSensorService instance at 0x7feb3c363bd8> [hrpsys.py] connecting hrpsys components [rtm.py] Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect ic.q - co.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect co.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect el.q - RobotHardware0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Failed to connect None to None [rtm.py] Failed to connect None to None [rtm.py] Failed to connect None to None [rtm.py] Failed to connect None to None [rtm.py] Connect RobotHardware0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Connect RobotHardware0.q - co.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new) [rtm.py] Failed to connect RobotHardware0.servoState to None([None]) [rtm.py] Connect RobotHardware0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)

[hrpsys.py] activating hrpsys components

COMM_FAILURE Traceback (most recent call last) /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, where) 202 else: 203 filename = fname --> 204 builtin.execfile(filename, where)

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in () 74 args.modelfile = unknown[1] 75 robot = hiro = hironx_client.HIRONX() ---> 76 robot.init(robotname=args.robot, url=args.modelfile) 77 78 # ROS Client

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in init(self, robotname, url) 324 325 print(self.configurator_name + "activating hrpsys components") --> 326 self.activateComps() 327 328 print(self.configurator_name + "setup hrpsys logger")

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in activateComps(self) 539 rtm.serializeComponents(rtcList) 540 for r in rtcList: --> 541 r.start() 542 543 def deactivateComps(self):

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in start(self, ec, timeout) 109 tm = 0 110 while tm < timeout: --> 111 if self.isActive(ec): 112 return True 113 time.sleep(0.01)

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in isActive(self, ec) 153 # \retval 0 this component is not active 154 def isActive(self, ec=None): --> 155 return RTC.ACTIVE_STATE == self.getLifeCycleState(ec) 156 157 ##

/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py in getLifeCycleState(self, ec) 143 ec = self.ec 144 if ec != None: --> 145 return ec.get_component_state(self.ref) 146 else: 147 return None

/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.pyc in get_component_state(self, args) 344 345 def get_component_state(self, args): --> 346 return _omnipy.invoke(self, "get_component_state", _0_RTC.ExecutionContext._d_get_component_state, args) 347 348 def get_kind(self, *args):

COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

In [1]: robot.ch robot.checkEncoders robot.checkSimulationMode

In [1]: robot.checkEncoders()

OBJECT_NOT_EXIST Traceback (most recent call last)
in () ----> 1 robot.checkEncoders() /opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in checkEncoders(self, jname, option) 783 "-overwrite": Overwrite calibration value. 784 ''' --> 785 if self.isServoOn(): 786 waitInputConfirm('Servo must be off for calibration') 787 return /opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py in isServoOn(self, jname) 584 return True 585 else: --> 586 s_s = self.getActualState().servoState 587 if jname.lower() == 'any' or jname.lower() == 'all': 588 for s in s_s: /opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py in getActualState(self) 1648 \endverbatim 1649 ''' -> 1650 return self.rh_svc.getStatus() 1651 1652 def isCalibDone(self): /opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/RobotHardwareService_idl.py in getStatus(self, *args) 231 232 def getStatus(self, *args): --> 233 return _omnipy.invoke(self, "getStatus", _0_OpenHRP.RobotHardwareService._d_getStatus, args) 234 235 def power(self, *args): OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) いろいろ忘れているので、思い出しながら作業します。 — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-244913836, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3IgtxkC6X3nWGKPvQLZJMqIY4Mfxks5qnUNpgaJpZM4HKIzB .

◉ Kei Okada

pazeshun commented 7 years ago

明日math.hを先にロードしてみるのと、ログを見てみます

emijah commented 7 years ago

KRCの齋藤元です。

math.hで起きたエラーを見せていただくことはできますか？

2016-09-06 20:46 GMT+09:00 pazeshun notifications@github.com:

明日math.hを先にロードしてみるのと、ログを見てみます

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/start-jsk/rtmros_hironx/issues/423#issuecomment-244926160, or mute the thread https://github.com/notifications/unsubscribe-auth/AAXmlZxTKNoZw1G6JqMbY661rS3d5tkyks5qnVJ6gaJpZM4HKIzB .

pazeshun commented 7 years ago

@emijah 齋藤様遅くなって申し訳ありません。以下がhttps://github.com/fkanehiro/hrpsys-base/blob/master/lib/util/BVutil.cpp#L2-L4 をそのままにした際のエラーの全文になります。 https://drive.google.com/file/d/0BxxBA3J-CunGZGJIMGFkNmpHNTQ/view?usp=sharing C++で記述されたものをCで解釈しきれずに起こるエラーであると思います。

pazeshun commented 7 years ago

@k-okada BVutil.cppの冒頭を以下のようにすることでもエラーを回避出来ました。

#include <iostream>
#include <math.h>
extern "C" {
#include <libqhull/qhull_a.h>
}

pazeshun commented 7 years ago

通信失敗した時のログは以下のようになっています。

$ cat /opt/jsk/var/log/rtcd.log 
Logger::Logger: streambuf address = 0x805fc70
hrpExecutionContext is registered
pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav
dof = 15
client: msg_no: _IO_MAX + 4
client: msg_reply:
rom # 4, soft # 300, 28/9/2011
serial # 5171, model # 129, cal day 28/9/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(Crom # 4, soft # 300, 4/10/2011
serial # 5172, model # 129, cal day 4/10/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(C
dummy IOB is opened
the number of gyros = 0
the number of accelerometers = 0
the number of force sensors = 2
lhsensor
rhsensor
dummy IOB is opened
period = 5[ms], priority = 49

CollisionDetectorを入れなかった時のログは以下です。

$ cat /opt/jsk/var/log/rtcd.log  
Logger::Logger: streambuf address = 0x805fc70
hrpExecutionContext is registered
pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav
dof = 15
client: msg_no: _IO_MAX + 4
client: msg_reply:
rom # 4, soft # 300, 28/9/2011
serial # 5171, model # 129, cal day 28/9/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(Crom # 4, soft # 300, 4/10/2011
serial # 5172, model # 129, cal day 4/10/2011
Newton, Newton*meter*10, mm*10, 14 bits, 255 ch
(C
dummy IOB is opened
the number of gyros = 0
the number of accelerometers = 0
the number of force sensors = 2
lhsensor
rhsensor
dummy IOB is opened
period = 5[ms], priority = 49
SequencePlayer::onInitialize()
dummy IOB is opened
failed to lock iob
dummy IOB is closed
StateHolder: dt = 0.005
dummy IOB is opened
failed to lock iob
dummy IOB is closed
fk: onInitialize()
dummy IOB is opened
failed to lock iob
dummy IOB is closed
ImpedanceController::onInitialize()
lhsensor
rhsensor
dummy IOB is opened
failed to lock iob
dummy IOB is closed
;; Opening /dev/console for writing.
;;
el: onInitialize()
dof = 15
dummy IOB is opened
failed to lock iob
dummy IOB is closed
sc: onInitialize()
sc: servo_id : 2 3 4 5 6 7 8 9 
sc: servo_offset : -0.85 0 -0.82 0 -0.85 0 -0.82 0 
sc: servo_dir : 1 1 -1 -1 1 1 -1 -1 
dummy IOB is opened
failed to lock iob
dummy IOB is closed
log: onInitialize()
dummy IOB is opened
failed to lock iob
dummy IOB is closed
rmfo: onInitialize()
dummy IOB is opened
failed to lock iob
dummy IOB is closed
SequencePlayer::onActivated(1000)
fk: onActivated(1000)
ImpedanceController::onActivated(1000)
el: onActivated(1000)
sc: onActivated(1000)
rmfo: onActivated(1000)
DataLogger: unsupported data type(TimedLongSeqSeq)
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name RARM is already installed
[addJointGroup] group name LARM is already installed

k-okada commented 7 years ago

CollisionDetector入れる／入れない．は .so を置く/置かない，という切り替え方という理解でいい？

/opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.confに example.CollisionDetector.config_file: /opt/jsk/etc/HIROINX/hrprtc/Robot.conf みたいなのはあるかな． RTCTREE_NAMESERVERS=hiro014:15005 rtls hiro014:15005 か RTCTREE_NAMESERVERS=hiro014:2809 rtls hiro014:2809 はどうなっているかなそこで，co.rtcがみえていれば， RTCTREE_NAMESERVERS=hiro014:15005 rtcat -l hiro014:15005/co.rtc かな．

pazeshun commented 7 years ago

CollisionDetector入れる／入れない．は .so を置く/置かない，という切り替え方という理解でいい？

そうではなく、手元PCのhironx_ros_bridgeパッケージ内のhironx_client.pyのrtclistのCollisionDetectorをコメントアウトするかしないかという切り替え方です。

k-okada commented 7 years ago

なるほど，それで良いです．で，

/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py in <module>()
     78     # ROS Client
     79     try:
---> 80         ros = ROS_Client()

のros = ROS_Client()は一旦コメントアウトして進めるのがいいね．

pazeshun commented 7 years ago

/opt/jsk/etc/HIRONX/hrprtc/rtcdRobotMode.confに example.CollisionDetector.config_file: /opt/jsk/etc/HIROINX/hrprtc/Robot.conf みたいなのはあるかな．

これはありました。

k-okada commented 7 years ago

[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect None to [None]([None])
[rtm.py]    Failed to connect RobotHardware0.servoState to None([None])

あたりのエラーが https://github.com/fkanehiro/hrpsys-base/blob/315.9.0/python/hrpsys_config.py#L284-L532 のどこから出ているか調べたい．