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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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Issue with tutorial Programming_Hiro_NEXTAGE_OPEN_ROS #447

Closed VinceDT closed 7 years ago

VinceDT commented 8 years ago

Hey guys,

I am working through the tutorials and at the Programming_Hiro_NEXTAGE_OPEN_ROS tutorial. Having started: rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch roslaunch nextage_moveit_config moveit_planning_execution.launch ipython -irospack find hironx_ros_bridge/scripts/hironx.py I get:

In [19]: ros.go_init()
[INFO] [WallTime: 1456932882.932612] [3330.960000] *** go_init begins ***
---------------------------------------------------------------------------
MoveItCommanderException                  Traceback (most recent call last)
<ipython-input-19-dd5d44413d43> in <module>()
----> 1 ros.go_init()

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/ros_client.pyc in go_init(self, init_pose_type, task_duration)
    204         elif 1 == init_pose_type:
    205             posetype_str = 'init_rtm_factory'
--> 206         self.MG_BOTHARMS.set_named_target(posetype_str)
    207         self.MG_BOTHARMS.go()
    208 

/opt/ros/indigo/lib/python2.7/dist-packages/moveit_commander/move_group.pyc in set_named_target(self, name)
    280         """ Set a joint configuration by name. The name can be a name previlusy remembered with remember_joint_values() or a configuration specified in the SRDF. """
    281         if not self._g.set_named_target(name):
--> 282             raise MoveItCommanderException("Unable to set target %s. Is the target within bounds?" % name)
    283 
    284     def remember_joint_values(self, name, values = None):

MoveItCommanderException: Unable to set target init_rtm. Is the target within bounds?

Using: Ubuntu 14.04 up-to-date ROS indigo up-to-date hironx packages installed yesterday via apt

Additionally there are errors at startup (maybe relevant to the problem):

rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch:

[ERROR] [1456933341.552714727]: Target Node visual1/node_joint0_axis0 NOT found!!! [ERROR] [1456933344.719268271]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'? [hrpsys_py-4] process has died ...

roslaunch nextage_moveit_config moveit_planning_execution.launch:

[ERROR] [1456933569.973900787]: Group 'torso' is not a chain
[ERROR] [1456933569.973948958]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'torso'
[ERROR] [1456933569.974412217]: Kinematics solver could not be instantiated for joint group torso.

thanks!

130s commented 8 years ago

Hm, I can't reproduce this error. Can you do us a favor for things?

130s commented 8 years ago

I just noticed you're actually willing to run Nextage. So replace the dpkg command with this:

$ dpkg -p ros-indigo-hironx-moveit-config ros-indigo-hironx-ros-bridge ros-indigo-nextage-moveit-config ros-indigo-nextage-ros-bridge ros-indigo-nextage-description ros-indigo-moveit-commander |grep Ver
Version: 1.1.11-0trusty-20160218-195453-0800
Version: 1.1.11-0trusty-20160218-193852-0800
Version: 0.7.6-0trusty-20160218-201252-0800
Version: 0.7.6-0trusty-20160218-195737-0800
Version: 0.7.6-0trusty-20160210-125241-0800
Version: 0.6.0-0trusty-20160205-202620-0800
VinceDT commented 8 years ago

Hey,

dpkg -p ros-indigo-hironx-moveit-config ros-indigo-hironx-ros-bridge ros-indigo-nextage-moveit-config ros-indigo-nextage-ros-bridge ros-indigo-nextage-description ros-indigo-moveit-commander |grep Ver
Version: 1.1.7-0trusty-20160208-142609-0800
Version: 1.1.7-0trusty-20160208-134735-0800
Version: 0.7.5-0trusty-20160208-150117-0800
Version: 0.7.5-0trusty-20160208-142556-0800
Version: 0.7.5-0trusty-20160127-152705-0800
Version: 0.6.0-0trusty-20160205-202620-0800
In [1]: ros.go_init(init_pose_type=1)
[INFO] [WallTime: 1456994658.843591] [230.885000] *** go_init begins ***
---------------------------------------------------------------------------
MoveItCommanderException                  Traceback (most recent call last)
<ipython-input-1-92671653e45b> in <module>()
----> 1 ros.go_init(init_pose_type=1)

/opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge/ros_client.pyc in go_init(self, init_pose_type, task_duration)
    204         elif 1 == init_pose_type:
    205             posetype_str = 'init_rtm_factory'
--> 206         self.MG_BOTHARMS.set_named_target(posetype_str)
    207         self.MG_BOTHARMS.go()
    208 

/opt/ros/indigo/lib/python2.7/dist-packages/moveit_commander/move_group.pyc in set_named_target(self, name)
    280         """ Set a joint configuration by name. The name can be a name previlusy remembered with remember_joint_values() or a configuration specified in the SRDF. """
    281         if not self._g.set_named_target(name):
--> 282             raise MoveItCommanderException("Unable to set target %s. Is the target within bounds?" % name)
    283 
    284     def remember_joint_values(self, name, values = None):

MoveItCommanderException: Unable to set target init_rtm_factory. Is the target within bounds?
/DataLoggerServiceROSBridge
/ForwardKinematicsServiceROSBridge
/HrpsysJointTrajectoryBridge
/HrpsysSeqStateROSBridge
/SequencePlayerServiceROSBridge
/StateHolderServiceROSBridge
/collision_state
/diagnostic_aggregator
/hironx_ros_client
/hrpsys_profile
/hrpsys_ros_diagnostics
/hrpsys_state_publisher
/move_group
/moveit_python_wrappers_1456994431345037205
/moveit_python_wrappers_1456994634747139003
/rosout
/rviz_md1hugwc_29247_1699392634724605031

Same error on the machine of a colleague.

thanks for the help!

k-okada commented 8 years ago

@VinceDT do you still have this error ?

130s commented 7 years ago

Closing due to inactivity. Feel free to reopen with updated info if the issue persists.