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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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"[hrpsys_py-4] process has died ..." error upon hironx_ros_bridge_simulation.launch #448

Open 130s opened 8 years ago

130s commented 8 years ago

Reported at https://github.com/start-jsk/rtmros_hironx/issues/447#issue-137911036

[hrpsys_py-4] process has died [pid 31683, exit code -11, cmd /opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4.log].
log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4*.log

I'm not aware of any issues in using the robot on simulation, but it makes (especially) new users worry if something is wrong (sorry @VinceDT).

I won't have an extra gear to take a further look into this soon. If someone can look at this that'd be great.

$ dpkg -p ros-indigo-hironx-ros-bridge ros-indigo-rtmros-common ros-indigo-hrpsys |grep Ver
Version: 1.1.11-0trusty-20160218-193852-0800
Version: 1.2.12-0trusty-20150506-173649-0700
Version: 315.8.0-0trusty-20160201-040843-0800
$ rospack find hironx_ros_bridge 
/opt/ros/indigo/share/hironx_ros_bridge
$ rospack find hrpsys_ros_bridge 
/opt/ros/indigo/share/hrpsys_ros_bridge

Full log

$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch 
[rtmlaunch] Start omniNames at port 15005 

Wed Mar  2 10:03:23 2016:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e302e313800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000eb2ad75601007b8e
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/roslaunch-tork-kudu1-31624.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:38222/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /collision_state/comp_name: CollisionDetector0
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /hironx/collada_model_filepath: /opt/ros/indigo/s...
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /rtmnameserver_port: 15005
 * /rtmnameserver_robotname: HiroNX(Robot)0
 * /use_sim_time: True

NODES
  /
    CollisionDetectorComp (hrpsys/CollisionDetectorComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    collision_state (hrpsys_ros_bridge/collision_state.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys (hrpsys/hrpsys-simulator)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (hironx_ros_bridge/hironx.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
auto-starting new master
process[master]: started with pid [31640]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8
process[rosout-1]: started with pid [31653]
started core service [/rosout]
process[modelloader-2]: started with pid [31677]
ready
process[hrpsys-3]: started with pid [31682]
process[hrpsys_py-4]: started with pid [31683]
process[HrpsysSeqStateROSBridge-5]: started with pid [31684]
process[HrpsysJointTrajectoryBridge-6]: started with pid [31687]
process[hrpsys_state_publisher-7]: started with pid [31692]
process[hrpsys_ros_diagnostics-8]: started with pid [31702]
process[diagnostic_aggregator-9]: started with pid [31708]
process[hrpsys_profile-10]: started with pid [31732]
process[sensor_ros_bridge_connect-11]: started with pid [31735]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [31740]
process[SequencePlayerServiceROSBridge-13]: started with pid [31743]
process[DataLoggerServiceROSBridge-14]: started with pid [31745]
loading file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
process[ForwardKinematicsServiceROSBridge-15]: started with pid [31758]
process[StateHolderServiceROSBridge-16]: started with pid [31765]
process[CollisionDetectorComp-17]: started with pid [31793]
process[rtmlaunch_collision_detector-18]: started with pid [31815]
process[collision_state-19]: started with pid [31820]
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
loading file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Collada Warning: fill asset info
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
loading /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
The model was successfully loaded ! 
Warning: Model HiroNX has empty joint ID in the valid IDs.
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
loading file:///opt/ros/indigo/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
The model was successfully loaded ! 
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:15005
Collada Warning: fill asset info
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
The model was successfully loaded ! 
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   0 /30
/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub = rospy.Publisher('diagnostics', DiagnosticArray)
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
Warning: Model HiroNX has empty joint ID in the valid IDs.
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/CollisionDetector0.rtc:qCurrent   0 /30
Collada Warning: fill asset info
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: generate normals from vertices
Collada Warning: generate normals from vertices
Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
check collisions between RARM_JOINT2 and LARM_JOINT2
check collisions between RARM_JOINT3 and LARM_JOINT3
check collisions between RARM_JOINT4 and LARM_JOINT4
check collisions between RARM_JOINT5 and LARM_JOINT5
The model was successfully loaded ! 
Warning: Model HiroNX has empty joint ID in the valid IDs.
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
duplicated sensor Id is specified(id = 1, name = rhsensor)
duplicated sensor Id is specified(id = 0, name = lhsensor)
Warning: Model HiroNX has empty joint ID in the valid IDs.
[ INFO] [1456941805.553312510]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
configuration ORB with localhost:15005
/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py:181: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub_diagnostics = rospy.Publisher('diagnostics', DiagnosticArray)
/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py:182: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  pub_collision = rospy.Publisher('collision_detector_marker_array', MarkerArray)
configuration ORB with localhost:15005
[WARN] [WallTime: 1456941805.774477] [0.000000] CollisionDetector(CollisionDetector0) is not activated, waiting...
[ WARN] [1456941805.777393597]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1456941805.798487043]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
duplicated sensor Id is specified(id = 1, name = rhsensor)
duplicated sensor Id is specified(id = 0, name = lhsensor)
Warning: Model HiroNX has empty joint ID in the valid IDs.
0 physical force sensor : lhsensor
1 physical force sensor : rhsensor
[ INFO] [1456941805.812125249]: [HrpsysSeqStateROSBridge] Loaded HiroNX
[ INFO] [1456941805.812309175]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for RTCmanager : tork-kudu1
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f372a5fa680> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f372a5fa680> isActive? = True 
[sensor_ros_bridge_connect.py] simulation_mode : True
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   1 /30
[rtmlaunch] Wait for  /localhost:15005/CollisionDetector0.rtc:qCurrent   1 /30
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f833d986b00> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f833d986b00> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7f833d986f38>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7f833d986d88>
[hrpsys.py]    version  =  315.7.0
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[WARN] [WallTime: 1456941806.777754] [0.000000] CollisionDetector(CollisionDetector0) is not activated, waiting...
[sensor_ros_bridge_connect.py]   wait for 'sh' :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   2 /30
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch]             to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:tau
[rtmlaunch]             to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Wait for  /localhost:15005/sh.rtc:StateHolderService   0 /30
[rtmlaunch] Wait for  /localhost:15005/CollisionDetector0.rtc:qCurrent   2 /30
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch]             to localhost:15005/CollisionDetector0.rtc:qCurrent
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch]             to localhost:15005/CollisionDetector0.rtc:qRef
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f833d9e0c68> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f833d9e0c68> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f833d85ec20> (315.7.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f833d86ea70>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f833d986f38> (315.7.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f833d88abd8>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e440> (315.7.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f833d85ee18>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[ic] force sensor ports
[ic]   name = lhsensor
[ic]   name = rhsensor
[ic] End Effector [rarm]RARM_JOINT5 CHEST_JOINT0
[ic]   target = RARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [ 3.13478e-05,  1.99151e-05,      1.00002]
    [     1.00002, -3.29388e-06, -1.47259e-05]
    [ 1.99151e-05,      1.00002, -3.29388e-06]
[ic] End Effector [larm]LARM_JOINT5 CHEST_JOINT0
[ic]   target = LARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [ 3.13478e-05,  1.99151e-05,      1.00002]
    [     1.00002, -3.29388e-06, -1.47259e-05]
    [ 1.99151e-05,      1.00002, -3.29388e-06]
[ic] Add impedance params
[ic]   sensor = lhsensor, sensor-link = LARM_JOINT5, ee_name = larm, ee-link = LARM_JOINT5
[ic]   sensor = rhsensor, sensor-link = RARM_JOINT5, ee_name = rarm, ee-link = RARM_JOINT5
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e830> (315.7.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f833da5f680>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[el] Do not load joint limit table
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f833d9393b0> (315.7.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f833da5a5a8>
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[WARNING] sc: needs servo.devname property
[WARNING] sc: running in dummy mode
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7f833d992b90> (315.7.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7f833d8a4950>
[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 0x7f833d9392d8> (315.7.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f833d8a4638>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[rmfo] onInitialize()
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
Warning: Model HiroNX has empty joint ID in the valid IDs.
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e488> (315.7.0)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f833d85eb48>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - ic.qRef
[rtm.py]    Connect ic.q - el.qRef
[rtm.py]    Connect el.q - HGcontroller0.qIn
[rtm.py]    Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef
[rtm.py]    Connect HiroNX(Robot)0.servoState - el.servoStateIn
[rtm.py]    Connect HiroNX(Robot)0.q - sh.currentQIn
[rtm.py]    Connect HiroNX(Robot)0.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
[INFO] [WallTime: 1456941807.783392] [0.000000]   bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
[rtm.py]    Connect seq.zmpRef - sh.zmpIn
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn
[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 sh.zmpOut - seq.zmpRefInit
[rtm.py]    Connect seq.rhsensorRef - sh.rhsensorIn
[rtm.py]    Connect seq.lhsensorRef - sh.lhsensorIn
[rtm.py]    Connect sh.rhsensorOut - ic.ref_rhsensorIn
[rtm.py]    Connect sh.lhsensorOut - ic.ref_lhsensorIn
[rtm.py]    Connect HiroNX(Robot)0.q - rmfo.qCurrent
[rtm.py]    Failed to connect None to ['rmfo.rhsensor']([<RTC._objref_PortService instance at 0x7f833d86e7e8>])
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor
[rtm.py]    Failed to connect None to ['rmfo.lhsensor']([<RTC._objref_PortService instance at 0x7f833d86ef80>])
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor
[rtm.py]    Connect HiroNX(Robot)0.q - ic.qCurrent
[rtm.py]    Connect sh.basePosOut - ic.basePosIn
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn
[rtm.py]    Connect HiroNX(Robot)0.q - el.qCurrent
[hrpsys.py] activating components
[sensor_ros_bridge_connect.py]   wait for 'sh' :  <hrpsys.rtm.RTcomponent instance at 0x7f372a2d20e0>
[sensor_ros_bridge_connect.py]   bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae
[rmfo] onActivated(1000)
[hrpsys.py] setup logger
[log] Log max length is set to 4000
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to HiroNX(Robot)0_q
[rtm.py]    Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to HiroNX(Robot)0_tau
[rtm.py]    Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_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
[sensor_ros_bridge_connect-11] process has finished cleanly
log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/sensor_ros_bridge_connect-11*.log
[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 HiroNX(Robot)0.emergencySignal - log.emergencySignal
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to HiroNX(Robot)0_servoState
[rtm.py]    Connect HiroNX(Robot)0.servoState - log.HiroNX(Robot)0_servoState
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut
[rtm.py]    Connect sh.rhsensorOut - log.sh_rhsensorOut
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut
[rtm.py]    Connect sh.lhsensorOut - log.sh_lhsensorOut
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor
[log] Log cleared
[hrpsys.py] setup joint groups
[addJointGroup] group name = torso
[addJointGroup] group name = head
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[hrpsys.py] initialized successfully
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[rtmlaunch] Wait for  /localhost:15005/sh.rtc:StateHolderService   1 /30
[ERROR] [1456941808.701502027]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1456941808.701620924]: Loading robot model 'HiroNX'...
[ INFO] [1456941808.701670640]: No root joint specified. Assuming fixed joint
[rtmlaunch] Wait for  /localhost:15005/sh.rtc:StateHolderService   2 /30
[rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch]             to localhost:15005/sh.rtc:StateHolderService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/sh.rtc:baseTformOut
[rtmlaunch]             to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/sh.rtc:qOut
[rtmlaunch]             to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
[rtmlaunch]             to localhost:15005/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
[rtmlaunch]             to localhost:15005/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService
[rtmlaunch]             to localhost:15005/log.rtc:DataLoggerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
[rtmlaunch]             to localhost:15005/seq.rtc:SequencePlayerService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
[rtmlaunch]             to localhost:15005/fk.rtc:ForwardKinematicsService
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysSeqStateROSBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysJointTrajectoryBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc
[ INFO] [1456941809.704110227, 4.824999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0)
[rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc
[ INFO] [1456941809.710864183, 4.869999999]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1456941809.710917899, 4.869999999]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[ INFO] [1456941809.768209565, 4.924999999]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1456941809.768355109, 4.924999999]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[ INFO] [1456941809.799409356, 4.959999999]: ADD_GROUP: head (/head_controller)
[ INFO] [1456941809.799470024, 4.959999999]:     JOINT: HEAD_JOINT0 HEAD_JOINT1
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[ INFO] [1456941809.828971090, 4.984999999]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1456941809.829010960, 4.984999999]:     JOINT: CHEST_JOINT0
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[INFO] [WallTime: 1456941809.854044] [5.015000] check 4 collision status, 0.797607 Hz
[ INFO] [1456941809.870255708, 5.029999999]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1456941809.870731367, 5.029999999]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[addJointGroup] group name = larm_torso
[ INFO] [1456941809.928807422, 5.089999999]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1456941809.928853874, 5.089999999]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[addJointGroup] group name = rarm_torso
[INFO] [WallTime: 1456941810.001550] [5.160000] Joint names; Torso: ['CHEST_JOINT0']
    Head: ['HEAD_JOINT0', 'HEAD_JOINT1']
    L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
    R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
[WARN] [WallTime: 1456941810.003653] [5.165000] Moveit is not started yet, if you want to use MoveIt!
Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)
[hrpsys_py-4] process has died [pid 31683, exit code -11, cmd /opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4.log].
log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4*.log
[ INFO] [1456941810.704686750, 5.869999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 209[Hz] (exec 1757 Hz, dropped 209)
k-okada commented 8 years ago

it is working on my setup, how about update rtmros_common ?

$ dpkg -p ros-indigo-hironx-ros-bridge ros-indigo-rtmros-common ros-indigo-hrpsys |grep Ver Version: 1.1.11-0trusty-20160218-193852-0800 Version: 1.3.1-0trusty-20160208-134708-0800 Version: 315.8.0-0trusty-20160122-020326-0800

◉ Kei Okada

On Thu, Mar 3, 2016 at 3:11 AM, Isaac I.Y. Saito notifications@github.com wrote:

Reported at #447 (comment) https://github.com/start-jsk/rtmros_hironx/issues/447#issue-137911036

[hrpsys_py-4] process has died [pid 31683, exit code -11, cmd /opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4.log]. log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4*.log

I'm not aware of any issues in using the robot on simulation, but it makes (especially) new users worry if something is wrong (sorry @VinceDT https://github.com/VinceDT).

I won't have an extra gear to take a further look into this soon. If someone can look at this that'd be great.

$ dpkg -p ros-indigo-hironx-ros-bridge ros-indigo-rtmros-common ros-indigo-hrpsys |grep Ver Version: 1.1.11-0trusty-20160218-193852-0800 Version: 1.2.12-0trusty-20150506-173649-0700 Version: 315.8.0-0trusty-20160201-040843-0800 $ rospack find hironx_ros_bridge /opt/ros/indigo/share/hironx_ros_bridge $ rospack find hrpsys_ros_bridge /opt/ros/indigo/share/hrpsys_ros_bridge

Full log

$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch [rtmlaunch] Start omniNames at port 15005

Wed Mar 2 10:03:23 2016:

Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e302e313800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000eb2ad75601007b8e Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/roslaunch-tork-kudu1-31624.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:38222/

SUMMARY

PARAMETERS

  • /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
  • /collision_state/comp_name: CollisionDetector0
  • /controller_configuration: [{'group_name': '...
  • /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
  • /diagnostic_aggregator/analyzers/computers/path: Computers
  • /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
  • /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
  • /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
  • /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
  • /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
  • /diagnostic_aggregator/analyzers/mode/path: Mode
  • /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
  • /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
  • /diagnostic_aggregator/analyzers/motor/path: Motor
  • /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
  • /diagnostic_aggregator/base_path:
  • /diagnostic_aggregator/pub_rate: 1.0
  • /hironx/collada_model_filepath: /opt/ros/indigo/s...
  • /robot_description: <?xml version="1....
  • /rosdistro: indigo
  • /rosversion: 1.11.16
  • /rtmnameserver_port: 15005
  • /rtmnameserver_robotname: HiroNX(Robot)0
  • /use_sim_time: True

NODES / CollisionDetectorComp (hrpsys/CollisionDetectorComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) collision_state (hrpsys_ros_bridge/collision_state.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hrpsys (hrpsys/hrpsys-simulator) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_py (hironx_ros_bridge/hironx.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [31640] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8 process[rosout-1]: started with pid [31653] started core service [/rosout] process[modelloader-2]: started with pid [31677] ready process[hrpsys-3]: started with pid [31682] process[hrpsys_py-4]: started with pid [31683] process[HrpsysSeqStateROSBridge-5]: started with pid [31684] process[HrpsysJointTrajectoryBridge-6]: started with pid [31687] process[hrpsys_state_publisher-7]: started with pid [31692] process[hrpsys_ros_diagnostics-8]: started with pid [31702] process[diagnostic_aggregator-9]: started with pid [31708] process[hrpsys_profile-10]: started with pid [31732] process[sensor_ros_bridge_connect-11]: started with pid [31735] process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [31740] process[SequencePlayerServiceROSBridge-13]: started with pid [31743] process[DataLoggerServiceROSBridge-14]: started with pid [31745] loading file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae process[ForwardKinematicsServiceROSBridge-15]: started with pid [31758] process[StateHolderServiceROSBridge-16]: started with pid [31765] process[CollisionDetectorComp-17]: started with pid [31793] process[rtmlaunch_collision_detector-18]: started with pid [31815] process[collision_state-19]: started with pid [31820] ;; ;; Could not open /dev/console for writing. ;; open: Permission denied loading file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 loading /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint loading file:///opt/ros/indigo/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint node WAIST Segment node BODY The model was successfully loaded ! [sensor_ros_bridge_connect.py] start configuration ORB with localhost:15005 Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices [rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 The model was successfully loaded ! [rtmlaunch] check connection/activation [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. pub = rospy.Publisher('diagnostics', DiagnosticArray) /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. pub = rospy.Publisher('diagnostics', DiagnosticArray) [rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [rtmlaunch] check connection/activation [rtmlaunch] Wait for /localhost:15005/CollisionDetector0.rtc:qCurrent 0 /30 Collada Warning: fill asset info Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: generate normals from vertices Collada Warning: generate normals from vertices Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 check collisions between RARM_JOINT2 and LARM_JOINT2 check collisions between RARM_JOINT3 and LARM_JOINT3 check collisions between RARM_JOINT4 and LARM_JOINT4 check collisions between RARM_JOINT5 and LARM_JOINT5 The model was successfully loaded ! Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae duplicated sensor Id is specified(id = 1, name = rhsensor) duplicated sensor Id is specified(id = 0, name = lhsensor) Warning: Model HiroNX has empty joint ID in the valid IDs. [ INFO] [1456941805.553312510]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done configuration ORB with localhost:15005 /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py:181: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. pub_diagnostics = rospy.Publisher('diagnostics', DiagnosticArray) /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py:182: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. pub_collision = rospy.Publisher('collision_detector_marker_array', MarkerArray) configuration ORB with localhost:15005 [WARN] [WallTime: 1456941805.774477] [0.000000] CollisionDetector(CollisionDetector0) is not activated, waiting... [ WARN] [1456941805.777393597]: [HrpsysSeqStateROSBridge] use_hrpsys_time [ INFO] [1456941805.798487043]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint cache found for /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae duplicated sensor Id is specified(id = 1, name = rhsensor) duplicated sensor Id is specified(id = 0, name = lhsensor) Warning: Model HiroNX has empty joint ID in the valid IDs. 0 physical force sensor : lhsensor 1 physical force sensor : rhsensor [ INFO] [1456941805.812125249]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1456941805.812309175]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done [sensor_ros_bridge_connect.py] wait for RTCmanager : tork-kudu1 [sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f372a5fa680> ( timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f372a5fa680> isActive? = True [sensor_ros_bridge_connect.py] simulation_mode : True [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [rtmlaunch] Wait for /localhost:15005/CollisionDetector0.rtc:qCurrent 1 /30 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f833d986b00> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f833d986b00> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] Hrpsys controller version info: [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7f833d986f38> [hrpsys.py] ref = <RTM._objref_Manager instance at 0x7f833d986d88> [hrpsys.py] version = 315.7.0 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware [WARN] [WallTime: 1456941806.777754] [0.000000] CollisionDetector(CollisionDetector0) is not activated, waiting... [sensor_ros_bridge_connect.py] wait for 'sh' : None [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 2 /30 [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:tau [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 0 /30 [rtmlaunch] Wait for /localhost:15005/CollisionDetector0.rtc:qCurrent 2 /30 [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f833d9e0c68> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f833d9e0c68> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f833d85ec20> (315.7.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f833d86ea70> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f833d986f38> (315.7.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f833d88abd8> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e440> (315.7.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f833d85ee18> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [ic] force sensor ports [ic] name = lhsensor [ic] name = rhsensor [ic] End Effector [rarm]RARM_JOINT5 CHEST_JOINT0 [ic] target = RARM_JOINT5, base = CHEST_JOINT0 [ic] localPos = [0, 0, 0][m] [ic] localR = [ 3.13478e-05, 1.99151e-05, 1.00002] [ 1.00002, -3.29388e-06, -1.47259e-05] [ 1.99151e-05, 1.00002, -3.29388e-06] [ic] End Effector [larm]LARM_JOINT5 CHEST_JOINT0 [ic] target = LARM_JOINT5, base = CHEST_JOINT0 [ic] localPos = [0, 0, 0][m] [ic] localR = [ 3.13478e-05, 1.99151e-05, 1.00002] [ 1.00002, -3.29388e-06, -1.47259e-05] [ 1.99151e-05, 1.00002, -3.29388e-06] [ic] Add impedance params [ic] sensor = lhsensor, sensor-link = LARM_JOINT5, ee_name = larm, ee-link = LARM_JOINT5 [ic] sensor = rhsensor, sensor-link = RARM_JOINT5, ee_name = rarm, ee-link = RARM_JOINT5 [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e830> (315.7.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f833da5f680> [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [el] Do not load joint limit table [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f833d9393b0> (315.7.0) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f833da5a5a8> [hrpsys.py] eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc") [WARNING] sc: needs servo.devname property [WARNING] sc: running in dummy mode [hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7f833d992b90> (315.7.0) [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7f833d8a4950> [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 0x7f833d9392d8> (315.7.0) [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f833d8a4638> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [rmfo] onInitialize() cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae Warning: Model HiroNX has empty joint ID in the valid IDs. [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f833d86e488> (315.7.0) [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f833d85eb48> [hrpsys.py] connecting components [rtm.py] Connect sh.qOut - ic.qRef [rtm.py] Connect ic.q - el.qRef [rtm.py] Connect el.q - HGcontroller0.qIn [rtm.py] Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef [rtm.py] Connect HiroNX(Robot)0.servoState - el.servoStateIn [rtm.py] Connect HiroNX(Robot)0.q - sh.currentQIn [rtm.py] Connect HiroNX(Robot)0.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 [INFO] [WallTime: 1456941807.783392] [0.000000] bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae [rtm.py] Connect seq.zmpRef - sh.zmpIn [rtm.py] Connect seq.optionalData - sh.optionalDataIn [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 sh.zmpOut - seq.zmpRefInit [rtm.py] Connect seq.rhsensorRef - sh.rhsensorIn [rtm.py] Connect seq.lhsensorRef - sh.lhsensorIn [rtm.py] Connect sh.rhsensorOut - ic.ref_rhsensorIn [rtm.py] Connect sh.lhsensorOut - ic.ref_lhsensorIn [rtm.py] Connect HiroNX(Robot)0.q - rmfo.qCurrent [rtm.py] Failed to connect None to ['rmfo.rhsensor']([<RTC._objref_PortService instance at 0x7f833d86e7e8>]) [rtm.py] Connect rmfo.off_rhsensor - ic.rhsensor [rtm.py] Failed to connect None to ['rmfo.lhsensor']([<RTC._objref_PortService instance at 0x7f833d86ef80>]) [rtm.py] Connect rmfo.off_lhsensor - ic.lhsensor [rtm.py] Connect HiroNX(Robot)0.q - ic.qCurrent [rtm.py] Connect sh.basePosOut - ic.basePosIn [rtm.py] Connect sh.baseRpyOut - ic.baseRpyIn [rtm.py] Connect HiroNX(Robot)0.q - el.qCurrent [hrpsys.py] activating components [sensor_ros_bridge_connect.py] wait for 'sh' : <hrpsys.rtm.RTcomponent instance at 0x7f372a2d20e0> [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae cache found for file:///opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae [rmfo] onActivated(1000) [hrpsys.py] setup logger [log] Log max length is set to 4000 [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to HiroNX(Robot)0_q [rtm.py] Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tau to HiroNX(Robot)0_tau [rtm.py] Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_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 [sensor_ros_bridge_connect-11] process has finished cleanly log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/sensor_ros_bridgeconnect-11.log [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 HiroNX(Robot)0.emergencySignal - log.emergencySignal [hrpsys.py] setupLogger : record type = TimedLongSeqSeq, name = servoState to HiroNX(Robot)0_servoState [rtm.py] Connect HiroNX(Robot)0.servoState - log.HiroNX(Robot)0_servoState [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut [rtm.py] Connect sh.rhsensorOut - log.sh_rhsensorOut [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut [rtm.py] Connect sh.lhsensorOut - log.sh_lhsensorOut [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor [rtm.py] Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor [rtm.py] Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor [log] Log cleared [hrpsys.py] setup joint groups [addJointGroup] group name = torso [addJointGroup] group name = head [addJointGroup] group name = rarm [addJointGroup] group name = larm [hrpsys.py] initialized successfully [addJointGroup] group name = torso [addJointGroup] group name TORSO is already installed [addJointGroup] group name = head [addJointGroup] group name HEAD is already installed [addJointGroup] group name = rarm [addJointGroup] group name RARM is already installed [addJointGroup] group name = larm [addJointGroup] group name LARM is already installed [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30 [ERROR] [1456941808.701502027]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'? [ INFO] [1456941808.701620924]: Loading robot model 'HiroNX'... [ INFO] [1456941808.701670640]: No root joint specified. Assuming fixed joint [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 2 /30 [rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService [rtmlaunch] to localhost:15005/sh.rtc:StateHolderService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/sh.rtc:baseTformOut [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseTform [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/sh.rtc:qOut [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService [rtmlaunch] to localhost:15005/log.rtc:DataLoggerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService [rtmlaunch] to localhost:15005/fk.rtc:ForwardKinematicsService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysSeqStateROSBridge0.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysJointTrajectoryBridge0.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/DataLoggerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc [ INFO] [1456941809.704110227, 4.824999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz](exec 1 Hz, dropped 0) [rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc [ INFO] [1456941809.710864183, 4.869999999]: ADD_GROUP: larm (/larm_controller) [ INFO] [1456941809.710917899, 4.869999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 [addJointGroup] group name = larm [addJointGroup] group name LARM is already installed [ INFO] [1456941809.768209565, 4.924999999]: ADD_GROUP: rarm (/rarm_controller) [ INFO] [1456941809.768355109, 4.924999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 [addJointGroup] group name = rarm [addJointGroup] group name RARM is already installed [ INFO] [1456941809.799409356, 4.959999999]: ADD_GROUP: head (/head_controller) [ INFO] [1456941809.799470024, 4.959999999]: JOINT: HEAD_JOINT0 HEAD_JOINT1 [addJointGroup] group name = head [addJointGroup] group name HEAD is already installed [ INFO] [1456941809.828971090, 4.984999999]: ADD_GROUP: torso (/torso_controller) [ INFO] [1456941809.829010960, 4.984999999]: JOINT: CHEST_JOINT0 [addJointGroup] group name = torso [addJointGroup] group name TORSO is already installed [INFO] [WallTime: 1456941809.854044] [5.015000] check 4 collision status, 0.797607 Hz [ INFO] [1456941809.870255708, 5.029999999]: ADD_GROUP: larm_torso (/larm_torso_controller) [ INFO] [1456941809.870731367, 5.029999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0 [addJointGroup] group name = larm_torso [ INFO] [1456941809.928807422, 5.089999999]: ADD_GROUP: rarm_torso (/rarm_torso_controller) [ INFO] [1456941809.928853874, 5.089999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0 [addJointGroup] group name = rarm_torso [INFO] [WallTime: 1456941810.001550] [5.160000] Joint names; Torso: ['CHEST_JOINT0'] Head: ['HEAD_JOINT0', 'HEAD_JOINT1'] L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] [WARN] [WallTime: 1456941810.003653] [5.165000] Moveit is not started yet, if you want to use MoveIt! Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch) [hrpsys_py-4] process has died [pid 31683, exit code -11, cmd /opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py HiroNX(Robot)0 /opt/ros/indigo/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsys_py-4.log]. log file: /home/n130s/.ros/log/0dd7c2d0-e0a1-11e5-b0b8-80fa5b08d1d8/hrpsyspy-4.log [ INFO] [1456941810.704686750, 5.869999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 209[Hz](exec 1757 Hz, dropped 209)

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