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Tutorials for rtmros packages
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attempted to call service /AutoBalancerServiceROSBridge/goPos, but failed #123

Closed himlen closed 8 years ago

himlen commented 9 years ago

HI, I was trying to learn euslisp after I installed ros-hydro-hrpsys-ros-bridge ros-hydro-hironx-moveit-config and rtmros_tutorials/hrpsys_ros_bridge_tutorials package then ran the command rtmlaunch hrpsys_ros_bridge_tutorials samplerobot.launch roseus rospack find hrpsys_ros_bridge_tutorials/test/hrpsys-samples/samplerobot-auto-balancer.l irteusgl$ (samplerobot-auto-balancer-init) it showed as follow and had no respond

[ WARN] [1416310765.366491069]: Advertising on topic [/robot_interface_marker_array] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310765.411915792]: /use_sim_time is TRUE, check if /clock is pusblished or not [ WARN] [1416310766.418410903, 44.880000000]: Advertising on topic [/larm_controller/follow_joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310766.497476355, 44.885000000]: Advertising on topic [/rarm_controller/follow_joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310766.616751438, 44.895000000]: Advertising on topic [/torso_controller/follow_joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310766.704205490, 44.900000000]: Advertising on topic [/lhand_controller/follow_joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310766.770051864, 44.905000000]: Advertising on topic [/rhand_controller/follow_joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310766.844180734, 44.915000000]: Advertising on topic [/fullbody_controller/joint_trajectory_action/goal] with an empty message definition. Some tools (e.g. rosbag) may not work correctly. [ WARN] [1416310769.754134926, 45.125000000]: topic /larm_controller/follow_joint_trajectory_action/goal already advertised [ WARN] [1416310769.754298132, 45.125000000]: topic /larm_controller/follow_joint_trajectory_action/cancel already advertised [ WARN] [1416310769.755476030, 45.125000000]: topic /rarm_controller/follow_joint_trajectory_action/goal already advertised [ WARN] [1416310769.755673735, 45.125000000]: topic /rarm_controller/follow_joint_trajectory_action/cancel already advertised [ WARN] [1416310769.756616651, 45.125000000]: topic /torso_controller/follow_joint_trajectory_action/goal already advertised [ WARN] [1416310769.756919015, 45.125000000]: topic /torso_controller/follow_joint_trajectory_action/cancel already advertised [ WARN] [1416310769.758064696, 45.125000000]: topic /lhand_controller/follow_joint_trajectory_action/goal already advertised [ WARN] [1416310769.758761934, 45.125000000]: topic /lhand_controller/follow_joint_trajectory_action/cancel already advertised [ WARN] [1416310769.766572049, 45.125000000]: topic /rhand_controller/follow_joint_trajectory_action/goal already advertised [ WARN] [1416310769.770559193, 45.125000000]: topic /rhand_controller/follow_joint_trajectory_action/cancel already advertised [ WARN] [1416310769.774266212, 45.125000000]: topic fullbody_controller/joint_trajectory_action/goal already advertised [ WARN] [1416310769.775624908, 45.125000000]: topic fullbody_controller/joint_trajectory_action/cancel already advertised

then I commented "(send ri :wait-interpolation)" and tried (samplerobot-auto-balancer-demo5) it showed [ERROR] [1416310830.472440417, 52.975000000]: attempted to call service /AutoBalancerServiceROSBridge/goPos, but failed [ERROR] [1416310830.477214045, 52.975000000]: attempted to call service /AutoBalancerServiceROSBridge/waitFootSteps, but failed

how can I figure it our? Thanks in advance!

snozawa commented 9 years ago

Hi himlen, could you show the the following results?

aptitude show ros-hydro-hrpsys-ros-bridge
aptitude show ros-hydro-hrpsys

, and lease let me know

himlen commented 9 years ago

Thanks for your reply!

I try that command and it shows himlen@ubuntu:~$ aptitude show ros-hydro-hrpsys-ros-bridge Package: ros-hydro-hrpsys-ros-bridge
State: installed Automatically installed: no Version: 1.2.6-0precise-20141029-2312-+0000 Priority: extra Section: misc Maintainer: Kei Okada k-okada@jsk.t.u-tokyo.ac.jp Architecture: amd64 Uncompressed Size: 23.3 M Depends: libboost-thread1.46.1 (>= 1.46.1-1), libc6 (>= 2.14), libgcc1 (>= 1:4.1.1), libomniorb4-1 (>= 4.1.6), libomnithread3c2 (>= 4.0.6), libstdc++6 (>= 4.6), ros-hydro-openhrp3, ros-hydro-openrtm-aist, ipython, python-psutil, ros-hydro-actionlib, ros-hydro-camera-info-manager, ros-hydro-collada-urdf, ros-hydro-control-msgs, ros-hydro-diagnostic-aggregator, ros-hydro-diagnostic-msgs, ros-hydro-dynamic-reconfigure, ros-hydro-hrpsys, ros-hydro-hrpsys-tools, ros-hydro-image-transport, ros-hydro-nav-msgs, ros-hydro-pr2-controllers, ros-hydro-robot-pose-ekf, ros-hydro-robot-state-publisher, ros-hydro-roscpp, ros-hydro-rosnode, ros-hydro-rostest, ros-hydro-rqt-gui, ros-hydro-rqt-gui-py, ros-hydro-rqt-robot-dashboard, ros-hydro-rqt-robot-monitor, ros-hydro-rtmbuild, ros-hydro-sensor-msgs, ros-hydro-tf, ros-hydro-visualization-msgs Conflicts: ros-hydro-hrpsys-ros-bridge Description: hrpsys_ros_bridge package provides basic functionalities to bind hrpsys, a OpenRTM-based controller, and ROS. By using this package, you can write your ROS packages that communicate with your non-ROS robots that run on hrpsys. For communicating with the robots that run on OpenRTM without hrpsys, you can use openrtm_ros_bridge package.

Homepage: http://wiki.ros.org/hrpsys_ros_bridge

himlen@ubuntu:~$ aptitude show ros-hydro-hrpsys Package: ros-hydro-hrpsys
State: installed Automatically installed: yes Version: 315.2.7-0precise-20141016-2047-+0000 Priority: extra Section: misc Maintainer: Kei Okada k-okada@jsk.t.u-tokyo.ac.jp Architecture: amd64 Uncompressed Size: 33.7 M Depends: freeglut3, libboost-python1.46.1 (>= 1.46.1-1), libc6 (>= 2.15), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglew1.6 (>= 1.6.0), libglu1-mesa | libglu1, libirrlicht1.7a, libomniorb4-1 (>= 4.1.6), libomnithread3c2 (>= 4.0.6), libpython2.7 (>= 2.7), libqhull5 (>= 2003.1), libsdl1.2debian (>= 1.2.10-1), libstdc++6 (>= 4.6), libxml2 (>= 2.7.4), ros-hydro-opencv2, ros-hydro-openhrp3, ros-hydro-openrtm-aist, freeglut3-dev, libirrlicht-dev, libqhull-dev, libsdl1.2-dev, libxml2-dev, libxmu-dev, python-tk, ros-hydro-cv-bridge, ros-hydro-rosbash Conflicts: ros-hydro-hrpsys Description: An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason. hrpsys package does not only wraps but build and installs the code from its mainstream repository (github.com/fkanehiro/hrpsys-base). The package version number is synchronized to that of mainstream, based on this decision. Its semantics: MAJOR: Synchronized with OpenHRP3 MINOR: Indicate IDL compatibility (packages with different version numbers in this section are NOT compatible) PATCH: Packages with different version numbers in this section ARE compatible. API document is auto-generated on github.

Homepage: http://ros.org/wiki/hrpsys

It seems I can execute (samplerobot-auto-balancer-demo0) to (samplerobot-auto-balancer-demo4) here's the log 2.irteusgl$ (samplerobot-auto-balancer-demo0) "Start and Stop AutoBalancer by fixing feet=>OK" t 3.irteusgl$ (samplerobot-auto-balancer-demo1) "Start and Stop AutoBalancer by fixing hands and feet=>OK" t 4.irteusgl$ (samplerobot-auto-balancer-demo2) ((plist) (ros::_default_zmp_offsets . #<std_msgs::float64multiarray #X5afc248>) (ros::_move_base_gain . 0.1)) "getAutoBalancerParam() => OK" t 5.irteusgl$ (samplerobot-auto-balancer-demo3) t 6.irteusgl$ (samplerobot-auto-balancer-demo4)

<hrpsys_ros_bridge::openhrp_autobalancerservice_stopautobalancerresponse #X6489ed0>

7.irteusgl$ (samplerobot-auto-balancer-demo5) [ERROR] [1416380815.462752516, 68.220000000]: attempted to call service /AutoBalancerServiceROSBridge/goPos, but failed [ERROR] [1416380815.470204977, 68.220000000]: attempted to call service /AutoBalancerServiceROSBridge/waitFootSteps, but failed "goPos()=>OK" t

When I try (samplerobot-auto-balancer-demo5), the hrpsys viewer was shut down and reset automatically, here's some of the messages

current foot midcoords pos = [3.16414e-17, 0, -5.55112e-17] rot = [ 1, -0, -5.55112e-17] [ 0, 1, -0] [ 5.55112e-17, 0, 1] goal foot midcoords pos = [0.1, 0.05, -4.996e-17] rot = [ 0.939693, -0.34202, -5.55112e-17] [ 0.34202, 0.939693, 0] [ 5.21634e-17, -1.89859e-17, 1] [rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/st.rtc:zmp , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rszmp ): CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_UnMarshalResults, CORBA.COMPLETED_YES) [ERROR] [1416380815.451227111, 68.220000000]: AutoBalancerServiceROSBridge::goPos : Caught system exception COMM_FAILURE -- unable to contact the object.

[ERROR] [1416380815.468696861, 68.220000000]: AutoBalancerServiceROSBridge::waitFootSteps : Caught system exception COMM_FAILURE -- unable to contact the object. [hrpsys-3] process has died [pid 27400, exit code -11, cmd /opt/ros/hydro/lib/hrpsys/hrpsys-simulator /home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/hydro/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.ForwardKinematics.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.ImpedanceController.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.AutoBalancer.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.StateHolder.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.TorqueFilter.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.TorqueController.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.ThermoEstimator.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.ThermoLimiter.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.VirtualForceSensor.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.AbsoluteForceSensor.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.KalmanFilter.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.Stabilizer.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.CollisionDetector.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.SoftErrorLimiter.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.HGcontroller.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf -o example.RobotHardware.config_file:/home/himlen/rtmros/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf name:=hrpsys log:=/home/himlen/.ros/log/e9795132-6fb9-11e4-8c97-000c29f52233/hrpsys-3.log]. log file: /home/himlen/.ros/log/e9795132-6fb9-11e4-8c97-000c29f52233/hrpsys-3*.log respawning... [hrpsys-3] restarting process process[hrpsys-3]: started with pid [29014] cache found for file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cache found for file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl [ WARN] [1416380818.958294101, 68.220000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [ WARN] [1416380823.958839980, 68.220000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

btw, I am using VMware fusion6 + ubuntu12.04.4 if it would be helpful

snozawa commented 9 years ago

Could you add hrpsys's conf file setting in hrpsys_ros_bridge_tutorials/catkin.cmake?

diff --git a/hrpsys_ros_bridge_tutorials/catkin.cmake b/hrpsys_ros_bridge_tutori
index c8f7ce6..115fa5d 100644
--- a/hrpsys_ros_bridge_tutorials/catkin.cmake
+++ b/hrpsys_ros_bridge_tutorials/catkin.cmake
@@ -47,6 +47,7 @@ if(EXISTS ${OPENHRP_SAMPLE_DIR}/model/sample1.wrl)
 compile_openhrp_model(
   ${OPENHRP_SAMPLE_DIR}/model/sample1.wrl SampleRobot
   --conf-file-option "abc_leg_offset: 0,0.09,0"
+  --conf-file-option "abc_stride_parameter: 0.15,0.05,10"
   --conf-file-option "end_effectors: lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/mo
 )

Thereafter, please try catkin_make of hrpsys_ros_bridge_tutorials again and confirm that abd_stride_parameter is written into hrpsys_ros_bridge_tutorials/models/SampleRobot.conf.

himlen commented 9 years ago

the problem in (samplerobot-auto-balancer-demo5) has been solved, but the code (send ri :wait-interpolation) still let me wait a long time and get no response.

snozawa commented 8 years ago

Few month ago, I confirmed your problem is reproduced on travis installing hrpsys_ros_bridge from deb.

Now I checked the same program on travis and I confirmed the problem seems to be resolved.

I close this issue, but if you find the same problem, please reopen this issue.