hrp2jsknts.launchが途中で落ちる

rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts.launch [rtmlaunch] Start omniNames at port 15005 Mon Apr 11 15:40:58 2016: Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f0000003133332e31312e3231362e31343900009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000fa460b5701007f73 Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/roslaunch-crab-32621.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://133.11.216.149:33234/ SUMMARY ======== PARAMETERS * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True * /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 * /robot_description: <?xml version="1.... * /robot_pose_ekf/debug: False * /robot_pose_ekf/freq: 30.0 * /robot_pose_ekf/imu_used: False * /robot_pose_ekf/odom_used: True * /robot_pose_ekf/output_frame: odom * /robot_pose_ekf/self_diagnose: False * /robot_pose_ekf/sensor_timeout: 1.0 * /robot_pose_ekf/vo_used: False * /rosdistro: indigo * /rosversion: 1.11.16 * /use_sim_time: True NODES / AutoBalancerServiceROSBridge (hrpsys_ros_bridge/AutoBalancerServiceROSBridgeComp) CollisionDetectorServiceROSBridge (hrpsys_ros_bridge/CollisionDetectorServiceROSBridgeComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) EmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HardEmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp) KalmanFilterServiceROSBridge (hrpsys_ros_bridge/KalmanFilterServiceROSBridgeComp) RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp) StabilizerServiceROSBridge (hrpsys_ros_bridge/StabilizerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) base_footprint_rootlink (tf/static_transform_publisher) collision_state (hrpsys_ros_bridge/collision_state.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hrp2jsknts_rviz (rviz/rviz) hrpsys (hrpsys/hrpsys-simulator) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_py (hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) 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 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 rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag sphinxdoc auto-starting new master process[master]: started with pid [32636] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 599109c4-ffb0-11e5-a082-a434d9a10e46 process[rosout-1]: started with pid [32649] started core service [/rosout] process[modelloader-2]: started with pid [32673] ready process[hrpsys-3]: started with pid [32678] process[hrpsys_py-4]: started with pid [32679] process[HrpsysSeqStateROSBridge-5]: started with pid [32680] process[HrpsysJointTrajectoryBridge-6]: started with pid [32689] process[hrpsys_state_publisher-7]: started with pid [32695] process[hrpsys_ros_diagnostics-8]: started with pid [32724] process[diagnostic_aggregator-9]: started with pid [32735] process[hrpsys_profile-10]: started with pid [308] loading /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl loading file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl process[sensor_ros_bridge_connect-11]: started with pid [341] configuration ORB with localhost:15005 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [358] process[SequencePlayerServiceROSBridge-13]: started with pid [365] Humanoid node Joint node WAIST Segment node BODY Joint node RLEG_JOINT0 Segment node RLEG_LINK0 Joint node RLEG_JOINT1 Segment node RLEG_LINK1 Joint node RLEG_JOINT2 Segment node RLEG_LINK2 Joint node RLEG_JOINT3 Segment node RLEG_LINK3 Joint node RLEG_JOINT4 Segment node RLEG_LINK4 Joint node RLEG_JOINT5 Segment node RLEG_LINK5 ForceSensorrfsensor Joint node RLEG_JOINT6 Segment node RLEG_LINK6 Joint node LLEG_JOINT0 Segment node LLEG_LINK0 Joint node LLEG_JOINT1 Segment node LLEG_LINK1 Joint node LLEG_JOINT2 Segment node LLEG_LINK2 Joint node LLEG_JOINT3 Segment node LLEG_LINK3 Joint node LLEG_JOINT4 Segment node LLEG_LINK4 Joint node LLEG_JOINT5 Segment node LLEG_LINK5 ForceSensorlfsensor Joint node LLEG_JOINT6 Segment node LLEG_LINK6 Joint node CHEST_JOINT0 Segment node CHEST_LINK0 Joint node CHEST_JOINT1 Segment node CHEST_LINK1 AccelerationSensorgsensor Gyrogyrometer Joint node HEAD_JOINT0 Segment node HEAD_LINK0 Joint node HEAD_JOINT1 Segment node HEAD_LINK1 VisionSensorCARMINE Joint node RARM_JOINT0 Segment node RARM_LINK0 Joint node RARM_JOINT1 Segment node RARM_LINK1 Joint node RARM_JOINT2 Segment node RARM_LINK2 Joint node RARM_JOINT3 Segment node RARM_LINK3 Joint node RARM_JOINT4 Segment node RARM_LINK4 Joint node RARM_JOINT5 Segment node RARM_LINK5 Joint node RARM_JOINT6 Segment node RARM_LINK6 ForceSensorrhsensor Joint node RARM_JOINT7 Segment node RARM_LINK7 Joint node LARM_JOINT0 Segment node LARM_LINK0 Joint node LARM_JOINT1 Segment node LARM_LINK1 Joint node LARM_JOINT2 Segment node LARM_LINK2 Joint node LARM_JOINT3 Segment node LARM_LINK3 Joint node LARM_JOINT4 Segment node LARM_LINK4 Joint node LARM_JOINT5 Segment node LARM_LINK5 Joint node LARM_JOINT6 Segment node LARM_LINK6 ForceSensorlhsensor Joint node LARM_JOINT7 Segment node LARM_LINK7 process[DataLoggerServiceROSBridge-14]: started with pid [394] Humanoid node Joint node WAIST Segment node BODY Joint node RLEG_JOINT0 Segment node RLEG_LINK0 Joint node RLEG_JOINT1 Segment node RLEG_LINK1 Joint node RLEG_JOINT2 Segment node RLEG_LINK2 Joint node RLEG_JOINT3 Segment node RLEG_LINK3 Joint node RLEG_JOINT4 Segment node RLEG_LINK4 Joint node RLEG_JOINT5 Segment node RLEG_LINK5 ForceSensorrfsensor Joint node RLEG_JOINT6 Segment node RLEG_LINK6 Joint node LLEG_JOINT0 Segment node LLEG_LINK0 Joint node LLEG_JOINT1 Segment node LLEG_LINK1 Joint node LLEG_JOINT2 Segment node LLEG_LINK2 Joint node LLEG_JOINT3 Segment node LLEG_LINK3 Joint node LLEG_JOINT4 Segment node LLEG_LINK4 Joint node LLEG_JOINT5 Segment node LLEG_LINK5 ForceSensorlfsensor Joint node LLEG_JOINT6 Segment node LLEG_LINK6 Joint node CHEST_JOINT0 Segment node CHEST_LINK0 Joint node CHEST_JOINT1 Segment node CHEST_LINK1 AccelerationSensorgsensor Gyrogyrometer Joint node HEAD_JOINT0 Segment node HEAD_LINK0 Joint node HEAD_JOINT1 Segment node HEAD_LINK1 VisionSensorCARMINE Joint node RARM_JOINT0 Segment node RARM_LINK0 Joint node RARM_JOINT1 Segment node RARM_LINK1 Joint node RARM_JOINT2 Segment node RARM_LINK2 Joint node RARM_JOINT3 Segment node RARM_LINK3 Joint node RARM_JOINT4 Segment node RARM_LINK4 Joint node RARM_JOINT5 Segment node RARM_LINK5 Joint node RARM_JOINT6 Segment node RARM_LINK6 ForceSensorrhsensor Joint node RARM_JOINT7 Segment node RARM_LINK7 Joint node LARM_JOINT0 Segment node LARM_LINK0 Joint node LARM_JOINT1 Segment node LARM_LINK1 Joint node LARM_JOINT2 Segment node LARM_LINK2 Joint node LARM_JOINT3 Segment node LARM_LINK3 Joint node LARM_JOINT4 Segment node LARM_LINK4 Joint node LARM_JOINT5 Segment node LARM_LINK5 Joint node LARM_JOINT6 Segment node LARM_LINK6 ForceSensorlhsensor Joint node LARM_JOINT7 Segment node LARM_LINK7 process[ForwardKinematicsServiceROSBridge-15]: started with pid [408] Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7 Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7 Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7 process[StateHolderServiceROSBridge-16]: started with pid [448] Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7 [sensor_ros_bridge_connect.py] start configuration ORB with localhost:15005 process[AutoBalancerServiceROSBridge-17]: started with pid [478] process[StabilizerServiceROSBridge-18]: started with pid [508] The model was successfully loaded ! Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl duplicated sensor Id is specified(id = 0, name = rfsensor) duplicated sensor Id is specified(id = 1, name = lfsensor) duplicated sensor Id is specified(id = 0, name = CARMINE) duplicated sensor Id is specified(id = 2, name = rhsensor) duplicated sensor Id is specified(id = 3, name = lhsensor) duplicated sensor Id is specified(id = 0, name = gsensor) duplicated sensor Id is specified(id = 0, name = gyrometer) [ INFO] [1460356865.187398002]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[KalmanFilterServiceROSBridge-19]: started with pid [535] The model was successfully loaded ! process[CollisionDetectorServiceROSBridge-20]: started with pid [570] /home/iory/catkin_ws/hrp2/src/rtmros_common/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) process[collision_state-21]: started with pid [596] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for process[ImpedanceControllerServiceROSBridge-22]: started with pid [635] loading file:///home/iory/catkin_ws/hrp4/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint node WAIST Segment node BODY The model was successfully loaded ! process[RemoveForceSensorLinkOffsetServiceROSBridge-23]: started with pid [665] process[SoftErrorLimiterServiceROSBridge-24]: started with pid [710] process[EmergencyStopperServiceROSBridge-25]: started with pid [769] process[HardEmergencyStopperServiceROSBridge-26]: started with pid [805] process[robot_pose_ekf-27]: started with pid [818] process[base_footprint_rootlink-28]: started with pid [827] process[hrp2jsknts_rviz-29]: started with pid [868] [ WARN] [1460356865.453285818]: [HrpsysSeqStateROSBridge] use_hrpsys_time [ INFO] [1460356865.515622210]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 /home/iory/catkin_ws/hrp2/src/rtmros_common/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) cache found for /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl duplicated sensor Id is specified(id = 0, name = rfsensor) duplicated sensor Id is specified(id = 1, name = lfsensor) duplicated sensor Id is specified(id = 0, name = CARMINE) duplicated sensor Id is specified(id = 2, name = rhsensor) duplicated sensor Id is specified(id = 3, name = lhsensor) duplicated sensor Id is specified(id = 0, name = gsensor) duplicated sensor Id is specified(id = 0, name = gyrometer) 0 physical force sensor : rfsensor 1 physical force sensor : lfsensor 2 physical force sensor : rhsensor 3 physical force sensor : lhsensor 0 acceleration sensor : gsensor 0 rate sensor : gyrometer [HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_JOINT6 WAIST [HrpsysSeqStateROSBridge0] target = RLEG_LINK5, sensor_name = rfsensor [HrpsysSeqStateROSBridge0] localPos = [-0.079411, -0.01, -0.034][m] [HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_JOINT6 WAIST [HrpsysSeqStateROSBridge0] target = LLEG_LINK5, sensor_name = lfsensor [HrpsysSeqStateROSBridge0] localPos = [-0.079411, 0.01, -0.034][m] [HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_JOINT6 CHEST_JOINT1 [HrpsysSeqStateROSBridge0] target = RARM_LINK6, sensor_name = rhsensor [HrpsysSeqStateROSBridge0] localPos = [-0.0042, 0.0392, -0.1245][m] [HrpsysSeqStateROSBridge0] End Effector [larm]LARM_JOINT6 CHEST_JOINT1 [HrpsysSeqStateROSBridge0] target = LARM_LINK6, sensor_name = lhsensor [HrpsysSeqStateROSBridge0] localPos = [-0.0042, -0.0392, -0.1245][m] [ INFO] [1460356865.544368577]: [HrpsysSeqStateROSBridge] Loaded HRP2JSKNTS [ INFO] [1460356865.544614387]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done [rtmlaunch] starting... /home/iory/catkin_ws/hrp2/src/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 [rtmlaunch] SIMULATOR_NAME HRP2JSKNTS(Robot)0 [rtmlaunch] check connection/activation [rtmlaunch] Connected from localhost:15005/HRP2JSKNTS(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/HRP2JSKNTS(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 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for HRP2JSKNTS(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7efffef23908> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7efffef23908> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7efffef127e8> (315.7.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7efffded0680> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") [sh] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7efffdec5050> (315.7.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7efffdee7560> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") [fk] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7efffdee09e0> (315.7.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7efffdeca290> [hrpsys.py] eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf") [tf] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7efffdebe248> (315.7.0) ("can't find a service named", 'service0') [hrpsys.py] eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf") [kf] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [kf] Q_angle=0.001, Q_rate=0.003, R_angle=1000 [hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7efffdee2e18> (315.7.0) [hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7efffdedb638> [hrpsys.py] eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs") [vs] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7efffded8ab8> (315.7.0) [hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7efffdec5908> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [rmfo] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7efffdee2f80> (315.7.0) [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7efffef2a8c0> [hrpsys.py] eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es") [es] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7efffdee01b8> (315.7.0) [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7efffded0b00> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [ic] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [ic] force sensor ports [ic] name = rfsensor [ic] name = lfsensor [ic] name = rhsensor [ic] name = lhsensor [ic] End Effector [rleg]RLEG_JOINT6 WAIST [ic] target = RLEG_JOINT6, base = WAIST [ic] localPos = [-0.079411, -0.01, -0.034][m] [ic] localR = [1, 0, 0] [0, 1, 0] [0, 0, 1] [ic] End Effector [lleg]LLEG_JOINT6 WAIST [ic] target = LLEG_JOINT6, base = WAIST [ic] localPos = [-0.079411, 0.01, -0.034][m] [ic] localR = [1, 0, 0] [0, 1, 0] [0, 0, 1] [ic] End Effector [rarm]RARM_JOINT6 CHEST_JOINT1 [ic] target = RARM_JOINT6, base = CHEST_JOINT1 [ic] localPos = [-0.0042, 0.0392, -0.1245][m] [ic] localR = [-3.67321e-06, 0, 1] [ 0, 1, 0] [ -1, 0, -3.67321e-06] [ic] End Effector [larm]LARM_JOINT6 CHEST_JOINT1 [ic] target = LARM_JOINT6, base = CHEST_JOINT1 [ic] localPos = [-0.0042, -0.0392, -0.1245][m] [ic] localR = [-3.67321e-06, 0, 1] [ 0, 1, 0] [ -1, 0, -3.67321e-06] [ic] Add impedance params [ic] sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT6 [ic] sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT6 [ic] sensor = rhsensor, sensor-link = RARM_JOINT6, ee_name = rarm, ee-link = RARM_JOINT6 [ic] sensor = lhsensor, sensor-link = LARM_JOINT6, ee_name = larm, ee-link = LARM_JOINT6 [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7efffef2a710> (315.7.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7efffdec4368> [hrpsys.py] eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc") [abc] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [abc] End Effector [rleg] [abc] target = RLEG_JOINT6, base = WAIST [abc] offset_pos = [-0.079411, -0.01, -0.034][m] [abc] has_toe_joint = true [abc] End Effector [lleg] [abc] target = LLEG_JOINT6, base = WAIST [abc] offset_pos = [-0.079411, 0.01, -0.034][m] [abc] has_toe_joint = true [abc] End Effector [rarm] [abc] target = RARM_JOINT6, base = CHEST_JOINT1 [abc] offset_pos = [-0.0042, 0.0392, -0.1245][m] [abc] has_toe_joint = false [abc] End Effector [larm] [abc] target = LARM_JOINT6, base = CHEST_JOINT1 [abc] offset_pos = [-0.0042, -0.0392, -0.1245][m] [abc] has_toe_joint = false [abc] abc_leg_offset = [0, 0.105, 0][m] [abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m] [abc] force sensor ports (4) [abc] name = ref_rfsensor [abc] name = ref_lfsensor [abc] name = ref_rhsensor [abc] name = ref_lhsensor [abc] name = rfsensor [abc] name = lfsensor [abc] name = rhsensor [abc] name = lhsensor [abc] limbCOPOffset ports (4) [abc] name = limbCOPOffset_rfsensor [abc] name = limbCOPOffset_lfsensor [abc] name = limbCOPOffset_rhsensor [abc] name = limbCOPOffset_lhsensor [hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7efffded0d40> (315.7.0) [hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7efffde76ea8> [hrpsys.py] eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st") [st] onInitialize() [sensor_ros_bridge_connect.py] wait for RTCmanager : crab [sensor_ros_bridge_connect.py] wait for HRP2JSKNTS(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f3c88bc1ef0> ( timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f3c88bc1ef0> isActive? = True [sensor_ros_bridge_connect.py] simulation_mode : True cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [st] force sensor ports (4) [st] name = rfsensor [sensor_ros_bridge_connect.py] bodyinfo URL = file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [st] name = lfsensor [sensor_ros_bridge_connect.py] connect rfsensor HRP2JSKNTS(Robot)0.rfsensor HrpsysSeqStateROSBridge0.rfsensor [rtm.py] Connect HRP2JSKNTS(Robot)0.rfsensor - HrpsysSeqStateROSBridge0.rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect rfsensor rmfo.off_rfsensor HrpsysSeqStateROSBridge0.off_rfsensor /home/iory/catkin_ws/hrp2/src/rtmros_common/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) [rtm.py] Connect rmfo.off_rfsensor - HrpsysSeqStateROSBridge0.off_rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) /home/iory/catkin_ws/hrp2/src/rtmros_common/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) [st] name = rhsensor configuration ORB with localhost:15005 [sensor_ros_bridge_connect.py] connect rfsensor sh.rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor [rtm.py] Connect sh.rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect lfsensor HRP2JSKNTS(Robot)0.lfsensor HrpsysSeqStateROSBridge0.lfsensor [st] name = lhsensor [st] limbCOPOffset ports (4) [WARN] [WallTime: 1460356866.169395] [0.000000] Could not found CollisionDetector(co), waiting... [rtm.py] Connect HRP2JSKNTS(Robot)0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [st] name = limbCOPOffset_rfsensor [sensor_ros_bridge_connect.py] connect lfsensor rmfo.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor [rtm.py] Connect rmfo.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [st] name = limbCOPOffset_lfsensor [sensor_ros_bridge_connect.py] connect lfsensor sh.lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor [rtm.py] Connect sh.lfsensorOut - HrpsysSeqStateROSBridge0.ref_lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [st] name = limbCOPOffset_rhsensor [sensor_ros_bridge_connect.py] connect gsensor HRP2JSKNTS(Robot)0.gsensor HrpsysSeqStateROSBridge0.gsensor [rtm.py] Connect HRP2JSKNTS(Robot)0.gsensor - HrpsysSeqStateROSBridge0.gsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [st] name = limbCOPOffset_lhsensor [sensor_ros_bridge_connect.py] connect gyrometer HRP2JSKNTS(Robot)0.gyrometer HrpsysSeqStateROSBridge0.gyrometer [st] End Effector [rleg] [st] target = RLEG_JOINT6, base = WAIST, sensor_name = rfsensor [st] offset_pos = [-0.079411, -0.01, -0.034][m] [st] End Effector [lleg] [st] target = LLEG_JOINT6, base = WAIST, sensor_name = lfsensor [st] offset_pos = [-0.079411, 0.01, -0.034][m] [st] End Effector [rarm] [st] target = RARM_JOINT6, base = CHEST_JOINT1, sensor_name = rhsensor [st] offset_pos = [-0.0042, 0.0392, -0.1245][m] [st] End Effector [larm] [st] target = LARM_JOINT6, base = CHEST_JOINT1, sensor_name = lhsensor [st] offset_pos = [-0.0042, -0.0392, -0.1245][m] [rtm.py] Connect HRP2JSKNTS(Robot)0.gyrometer - HrpsysSeqStateROSBridge0.gyrometer (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect rhsensor HRP2JSKNTS(Robot)0.rhsensor HrpsysSeqStateROSBridge0.rhsensor [rtm.py] Connect HRP2JSKNTS(Robot)0.rhsensor - HrpsysSeqStateROSBridge0.rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor [rtm.py] Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect rhsensor sh.rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor [rtm.py] Connect sh.rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7efffded08c0> (315.7.0) [sensor_ros_bridge_connect.py] connect lhsensor HRP2JSKNTS(Robot)0.lhsensor HrpsysSeqStateROSBridge0.lhsensor [rtm.py] Connect HRP2JSKNTS(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor [rtm.py] Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [sensor_ros_bridge_connect.py] connect lhsensor sh.lhsensorOut HrpsysSeqStateROSBridge0.ref_lhsensor [rtm.py] Connect sh.lhsensorOut - HrpsysSeqStateROSBridge0.ref_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all) [hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7efffde9a6c8> [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied [co] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl QH6214 qhull input error: not enough points(3) to construct initial simplex (need 4) While executing: | qhull Qt Tc Options selected for Qhull 2012.1 2012/02/18: run-id 627245300 Qtriangulate Tcheck-frequently _pre-merge _zero-centrum QH6205 qhull error (qh_initqhull_start): qh_qh already defined. Call qh_save_qhull() first terminate called after throwing an instance of 'omni_thread_fatal' [hrpsys.py] Fail to createComps CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [hrpsys.py] eval : [self.tc, self.tc_svc, self.tc_version] = self.createComp("TorqueController","tc") ('failed to load', 'TorqueController.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.te, self.te_svc, self.te_version] = self.createComp("ThermoEstimator","te") ('failed to load', 'ThermoEstimator.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes") ('failed to load', 'EmergencyStopper.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") ('failed to load', 'SoftErrorLimiter.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.tl, self.tl_svc, self.tl_version] = self.createComp("ThermoLimiter","tl") ('failed to load', 'ThermoLimiter.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.bp, self.bp_svc, self.bp_version] = self.createComp("Beeper","bp") ('failed to load', 'Beeper.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") ('failed to load', 'DataLogger.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] connecting components Traceback (most recent call last): File "/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py", line 8, in <module> hcf.init(sys.argv[1], sys.argv[2]) File "/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py", line 16, in init HrpsysConfigurator.init(self, robotname, url) File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2083, in init self.connectComps() File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 289, in connectComps connectPorts(self.sh.port("qOut"), tmp_controllers[0].port("qRef")) File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 541, in connectPorts if isConnected(outP, inP) == True and False: File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 480, in isConnected op = outP.get_port_profile() File "/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1205, in get_port_profile return _omnipy.invoke(self, "get_port_profile", _0_RTC.PortService._d_get_port_profile, args) omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [hrpsys-3] process has died [pid 32678, exit code -6, cmd /home/iory/catkin_ws/hrp2/devel/lib/hrpsys/hrpsys-simulator /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.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:/home/iory/catkin_ws/hrp2/devel/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/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ForwardKinematics.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ImpedanceController.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.AutoBalancer.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.StateHolder.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.TorqueFilter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.TorqueController.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ThermoEstimator.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ThermoLimiter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.VirtualForceSensor.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.AbsoluteForceSensor.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.KalmanFilter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.Stabilizer.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.CollisionDetector.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.SoftErrorLimiter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.HGcontroller.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.PDcontroller.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.EmergencyStopper.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.RobotHardware.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf __name:=hrpsys __log:=/home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/hrpsys-3.log]. log file: /home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/hrpsys-3*.log [hrpsys_py-4] process has died [pid 32679, exit code 1, cmd /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py HRP2JSKNTS(Robot)0 /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/hrpsys_py-4.log]. log file: /home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/hrpsys_py-4*.log [sensor_ros_bridge_connect-11] process has finished cleanly log file: /home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/sensor_ros_bridge_connect-11*.log [hrpsys-3] restarting process process[hrpsys-3]: started with pid [1233] cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for file:///home/iory/catkin_ws/hrp4/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30 [rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService , /localhost:15005/sh.rtc:StateHolderService ): CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc 0 /30 [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 [rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/AutoBalancerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/StabilizerServiceROSBridge.rtc [ INFO] [1460356866.827673260]: ADD_GROUP: larm (/larm_controller) [ INFO] [1460356866.827717774]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 LARM_JOINT6 LARM_JOINT7 [rtmlaunch] Activate <- Inactive /localhost:15005/KalmanFilterServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetectorServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/ImpedanceControllerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/RemoveForceSensorLinkOffsetServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/SoftErrorLimiterServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/EmergencyStopperServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/HardEmergencyStopperServiceROSBridge.rtc [WARN] [WallTime: 1460356867.170969] [0.000000] Could not found CollisionDetector(co), waiting... omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(larm), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356868.174880] [0.000000] Could not found CollisionDetector(co), waiting... [ INFO] [1460356868.874790931]: ADD_GROUP: rarm (/rarm_controller) [ INFO] [1460356868.874830565]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 RARM_JOINT6 RARM_JOINT7 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(rarm), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356869.179567] [0.000000] Could not found CollisionDetector(co), waiting... [ INFO] [1460356869.918532385]: ADD_GROUP: lleg (/lleg_controller) [ INFO] [1460356869.918582430]: JOINT: LLEG_JOINT0 LLEG_JOINT1 LLEG_JOINT2 LLEG_JOINT3 LLEG_JOINT4 LLEG_JOINT5 LLEG_JOINT6 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(lleg), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356870.183275] [0.000000] Could not found CollisionDetector(co), waiting... [ WARN] [1460356870.545013609]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [ INFO] [1460356870.961034348]: ADD_GROUP: rleg (/rleg_controller) [ INFO] [1460356870.961081879]: JOINT: RLEG_JOINT0 RLEG_JOINT1 RLEG_JOINT2 RLEG_JOINT3 RLEG_JOINT4 RLEG_JOINT5 RLEG_JOINT6 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(rleg), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356871.188003] [0.000000] Could not found CollisionDetector(co), waiting... [ INFO] [1460356872.035242480]: ADD_GROUP: torso (/torso_controller) [ INFO] [1460356872.035352871]: JOINT: CHEST_JOINT0 CHEST_JOINT1 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(torso), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356872.193538] [0.000000] Could not found CollisionDetector(co), waiting... [ INFO] [1460356873.123311985]: ADD_GROUP: head (/head_controller) [ INFO] [1460356873.123396157]: JOINT: HEAD_JOINT0 HEAD_JOINT1 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(head), CORBA::SystemException INV_OBJREF [WARN] [WallTime: 1460356873.198193] [0.000000] Could not found CollisionDetector(co), waiting... [WARN] [WallTime: 1460356874.208048] [0.000000] Could not found CollisionDetector(co), waiting... [WARN] [WallTime: 1460356875.211539] [0.000000] Could not found CollisionDetector(co), waiting... [ WARN] [1460356875.545262261]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [ERROR] [WallTime: 1460356876.213173] [0.000000] Could not found CollisionDetector, exiting... [collision_state-21] process has finished cleanly log file: /home/iory/.ros/log/599109c4-ffb0-11e5-a082-a434d9a10e46/collision_state-21*.log [rtmlaunch] check connection/activation [rtmlaunch] Connected from localhost:15005/HRP2JSKNTS(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} [ INFO] [1460356876.894413201, 0.964000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 17711 Hz, dropped 0) [rtmlaunch] Connected from localhost:15005/HRP2JSKNTS(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 [ INFO] [1460356877.897094376, 11.479999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 259[Hz] (exec 1793 Hz, dropped 2) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30 [ INFO] [1460356878.897728450, 12.483999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1718 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 2 /30 [ INFO] [1460356879.899676275, 13.487999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1739 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 3 /30 [ INFO] [1460356880.900565349, 14.491999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1680 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 4 /30 [ INFO] [1460356881.901594520, 15.495999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1635 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 5 /30 [ INFO] [1460356882.904131404, 16.495999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1640 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 6 /30 [ INFO] [1460356883.906236063, 17.499999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1595 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 7 /30 [ INFO] [1460356884.908709960, 18.507999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1620 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 8 /30 [ INFO] [1460356885.909491088, 19.507999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1656 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 9 /30 [ INFO] [1460356886.912211239, 20.520000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1740 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 10 /30 [ INFO] [1460356887.913307111, 21.524000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1729 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 11 /30 [ INFO] [1460356888.914299153, 22.528000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1734 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 12 /30 [ INFO] [1460356889.920801791, 23.532000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1744 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 13 /30 [ INFO] [1460356890.921936872, 24.540000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1684 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 14 /30 [ INFO] [1460356891.927680746, 25.548000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1735 Hz, dropped 0) [ INFO] [1460356892.928908075, 26.552000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1703 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 15 /30 [ INFO] [1460356893.932864091, 27.556000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1666 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 16 /30 [ INFO] [1460356894.935965332, 28.568000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1673 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 17 /30 [ INFO] [1460356895.936917588, 29.572000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1634 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 18 /30 [ INFO] [1460356896.940705268, 30.576000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1628 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 19 /30 [ INFO] [1460356897.942444749, 31.580000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1610 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 20 /30 [ INFO] [1460356898.945350214, 32.584000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1643 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 21 /30 [ INFO] [1460356899.947940194, 33.592000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1627 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 22 /30 [ INFO] [1460356900.949795015, 34.596000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1655 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 23 /30 [ INFO] [1460356901.950534157, 35.600000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1628 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 24 /30 [ INFO] [1460356902.955514763, 36.608000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1669 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 25 /30 [ INFO] [1460356903.958875702, 37.612000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1612 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 26 /30 [ INFO] [1460356904.962772511, 38.620000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1635 Hz, dropped 0) [ INFO] [1460356905.966841955, 39.623999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1656 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 27 /30 [ INFO] [1460356906.970799255, 40.631999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1674 Hz, dropped 1) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 28 /30 [ INFO] [1460356907.979377657, 41.639999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1765 Hz, dropped 0) [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 29 /30 [ INFO] [1460356908.982438538, 42.647999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1741 Hz, dropped 0) [rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService , /localhost:15005/sh.rtc:StateHolderService ): No such object: /localhost:15005/sh.rtc:StateHolderService [ INFO] [1460356909.984268610, 43.655999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 252[Hz] (exec 1745 Hz, dropped 0) [ INFO] [1460356910.987608613, 44.659999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1694 Hz, dropped 0) [ INFO] [1460356911.988328466, 45.663999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 251[Hz] (exec 1628 Hz, dropped 0)

 rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts_startup.launch [rtmlaunch] Start omniNames at port 15005 Mon Apr 11 16:10:21 2016: Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f0000003133332e31312e3231362e31373400009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000dd4d0b5701007f0d Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/iory/.ros/log/7450b30a-ffb4-11e5-983d-507b9d9efada/roslaunch-crab-32519.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://133.11.216.174:34576/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.16 * /use_sim_time: True NODES / hrpsys (hrpsys/hrpsys-simulator) hrpsys_py (hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py) modelloader (openhrp3/openhrp-model-loader) auto-starting new master process[master]: started with pid [32534] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 7450b30a-ffb4-11e5-983d-507b9d9efada process[rosout-1]: started with pid [32550] started core service [/rosout] process[modelloader-2]: started with pid [32554] ready process[hrpsys-3]: started with pid [32580] process[hrpsys_py-4]: started with pid [32581] loading file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl configuration ORB with localhost:15005 [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware Humanoid node Joint node WAIST Segment node BODY Joint node RLEG_JOINT0 Segment node RLEG_LINK0 Joint node RLEG_JOINT1 Segment node RLEG_LINK1 Joint node RLEG_JOINT2 Segment node RLEG_LINK2 Joint node RLEG_JOINT3 Segment node RLEG_LINK3 Joint node RLEG_JOINT4 Segment node RLEG_LINK4 Joint node RLEG_JOINT5 Segment node RLEG_LINK5 ForceSensorrfsensor Joint node RLEG_JOINT6 Segment node RLEG_LINK6 Joint node LLEG_JOINT0 Segment node LLEG_LINK0 Joint node LLEG_JOINT1 Segment node LLEG_LINK1 Joint node LLEG_JOINT2 Segment node LLEG_LINK2 Joint node LLEG_JOINT3 Segment node LLEG_LINK3 Joint node LLEG_JOINT4 Segment node LLEG_LINK4 Joint node LLEG_JOINT5 Segment node LLEG_LINK5 ForceSensorlfsensor Joint node LLEG_JOINT6 Segment node LLEG_LINK6 Joint node CHEST_JOINT0 Segment node CHEST_LINK0 Joint node CHEST_JOINT1 Segment node CHEST_LINK1 AccelerationSensorgsensor Gyrogyrometer Joint node HEAD_JOINT0 Segment node HEAD_LINK0 Joint node HEAD_JOINT1 Segment node HEAD_LINK1 VisionSensorCARMINE Joint node RARM_JOINT0 Segment node RARM_LINK0 Joint node RARM_JOINT1 Segment node RARM_LINK1 Joint node RARM_JOINT2 Segment node RARM_LINK2 Joint node RARM_JOINT3 Segment node RARM_LINK3 Joint node RARM_JOINT4 Segment node RARM_LINK4 Joint node RARM_JOINT5 Segment node RARM_LINK5 Joint node RARM_JOINT6 Segment node RARM_LINK6 ForceSensorrhsensor Joint node RARM_JOINT7 Segment node RARM_LINK7 Joint node LARM_JOINT0 Segment node LARM_LINK0 Joint node LARM_JOINT1 Segment node LARM_LINK1 Joint node LARM_JOINT2 Segment node LARM_LINK2 Joint node LARM_JOINT3 Segment node LARM_LINK3 Joint node LARM_JOINT4 Segment node LARM_LINK4 Joint node LARM_JOINT5 Segment node LARM_LINK5 Joint node LARM_JOINT6 Segment node LARM_LINK6 ForceSensorlhsensor Joint node LARM_JOINT7 Segment node LARM_LINK7 Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7 Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7 The model was successfully loaded ! Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for loading file:///home/iory/catkin_ws/hrp4/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl Humanoid node Joint node WAIST Segment node BODY The model was successfully loaded ! [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for HRP2JSKNTS(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fb59ba10908> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fb59ba10908> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] bodyinfo URL = file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] creating components [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7a1e18> (315.7.0) [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fb59a7a97a0> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") [sh] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fb59b9ff758> (315.7.0) [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fb59a7c8560> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") [fk] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7ba050> (315.7.0) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fb59ba17830> [hrpsys.py] eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf") [tf] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7baa70> (315.7.0) ("can't find a service named", 'service0') [hrpsys.py] eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf") [kf] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [kf] Q_angle=0.001, Q_rate=0.003, R_angle=1000 [hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7a17e8> (315.7.0) [hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7fb59a7bb8c0> [hrpsys.py] eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs") [vs] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7fb59a79f098> (315.7.0) [hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7fb59a7ba098> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [rmfo] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7a1878> (315.7.0) [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7fb59a7a9950> [hrpsys.py] eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es") [es] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7a1b00> (315.7.0) [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7fb59a798cb0> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [ic] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [ic] force sensor ports [ic] name = rfsensor [ic] name = lfsensor [ic] name = rhsensor [ic] name = lhsensor [ic] End Effector [rleg]RLEG_JOINT6 WAIST [ic] target = RLEG_JOINT6, base = WAIST [ic] localPos = [-0.079411, -0.01, -0.034][m] [ic] localR = [1, 0, 0] [0, 1, 0] [0, 0, 1] [ic] End Effector [lleg]LLEG_JOINT6 WAIST [ic] target = LLEG_JOINT6, base = WAIST [ic] localPos = [-0.079411, 0.01, -0.034][m] [ic] localR = [1, 0, 0] [0, 1, 0] [0, 0, 1] [ic] End Effector [rarm]RARM_JOINT6 CHEST_JOINT1 [ic] target = RARM_JOINT6, base = CHEST_JOINT1 [ic] localPos = [-0.0042, 0.0392, -0.1245][m] [ic] localR = [-3.67321e-06, 0, 1] [ 0, 1, 0] [ -1, 0, -3.67321e-06] [ic] End Effector [larm]LARM_JOINT6 CHEST_JOINT1 [ic] target = LARM_JOINT6, base = CHEST_JOINT1 [ic] localPos = [-0.0042, -0.0392, -0.1245][m] [ic] localR = [-3.67321e-06, 0, 1] [ 0, 1, 0] [ -1, 0, -3.67321e-06] [ic] Add impedance params [ic] sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT6 [ic] sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT6 [ic] sensor = rhsensor, sensor-link = RARM_JOINT6, ee_name = rarm, ee-link = RARM_JOINT6 [ic] sensor = lhsensor, sensor-link = LARM_JOINT6, ee_name = larm, ee-link = LARM_JOINT6 [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fb59a7ba5a8> (315.7.0) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fb59a7c8128> [hrpsys.py] eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc") [abc] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [abc] End Effector [rleg] [abc] target = RLEG_JOINT6, base = WAIST [abc] offset_pos = [-0.079411, -0.01, -0.034][m] [abc] has_toe_joint = true [abc] End Effector [lleg] [abc] target = LLEG_JOINT6, base = WAIST [abc] offset_pos = [-0.079411, 0.01, -0.034][m] [abc] has_toe_joint = true [abc] End Effector [rarm] [abc] target = RARM_JOINT6, base = CHEST_JOINT1 [abc] offset_pos = [-0.0042, 0.0392, -0.1245][m] [abc] has_toe_joint = false [abc] End Effector [larm] [abc] target = LARM_JOINT6, base = CHEST_JOINT1 [abc] offset_pos = [-0.0042, -0.0392, -0.1245][m] [abc] has_toe_joint = false [abc] abc_leg_offset = [0, 0.105, 0][m] [abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m] [abc] force sensor ports (4) [abc] name = ref_rfsensor [abc] name = ref_lfsensor [abc] name = ref_rhsensor [abc] name = ref_lhsensor [abc] name = rfsensor [abc] name = lfsensor [abc] name = rhsensor [abc] name = lhsensor [abc] limbCOPOffset ports (4) [abc] name = limbCOPOffset_rfsensor [abc] name = limbCOPOffset_lfsensor [abc] name = limbCOPOffset_rhsensor [abc] name = limbCOPOffset_lhsensor [hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7fb59a798050> (315.7.0) [hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7fb59a757ea8> [hrpsys.py] eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st") [st] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl [st] force sensor ports (4) [st] name = rfsensor [st] name = lfsensor [st] name = rhsensor [st] name = lhsensor [st] limbCOPOffset ports (4) [st] name = limbCOPOffset_rfsensor [st] name = limbCOPOffset_lfsensor [st] name = limbCOPOffset_rhsensor [st] name = limbCOPOffset_lhsensor [st] End Effector [rleg] [st] target = RLEG_JOINT6, base = WAIST, sensor_name = rfsensor [st] offset_pos = [-0.079411, -0.01, -0.034][m] [st] End Effector [lleg] [st] target = LLEG_JOINT6, base = WAIST, sensor_name = lfsensor [st] offset_pos = [-0.079411, 0.01, -0.034][m] [st] End Effector [rarm] [st] target = RARM_JOINT6, base = CHEST_JOINT1, sensor_name = rhsensor [st] offset_pos = [-0.0042, 0.0392, -0.1245][m] [st] End Effector [larm] [st] target = LARM_JOINT6, base = CHEST_JOINT1, sensor_name = lhsensor [st] offset_pos = [-0.0042, -0.0392, -0.1245][m] [hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7fb59a799e60> (315.7.0) [hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7fb59a77b6c8> [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied [co] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl QH6214 qhull input error: not enough points(3) to construct initial simplex (need 4) While executing: | qhull Qt Tc Options selected for Qhull 2012.1 2012/02/18: run-id 656808813 Qtriangulate Tcheck-frequently _pre-merge _zero-centrum QH6205 qhull error (qh_initqhull_start): qh_qh already defined. Call qh_save_qhull() first freeglut ERROR: Function <glutBitmapCharacter> called without first calling 'glutInit'. terminate called after throwing an instance of 'omni_thread_fatal' [hrpsys.py] Fail to createComps CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [hrpsys.py] eval : [self.tc, self.tc_svc, self.tc_version] = self.createComp("TorqueController","tc") ('failed to load', 'TorqueController.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.te, self.te_svc, self.te_version] = self.createComp("ThermoEstimator","te") ('failed to load', 'ThermoEstimator.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes") ('failed to load', 'EmergencyStopper.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") ('failed to load', 'SoftErrorLimiter.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.tl, self.tl_svc, self.tl_version] = self.createComp("ThermoLimiter","tl") ('failed to load', 'ThermoLimiter.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.bp, self.bp_svc, self.bp_version] = self.createComp("Beeper","bp") ('failed to load', 'Beeper.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") ('failed to load', 'DataLogger.so') [hrpsys.py] Fail to createComps CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [hrpsys.py] connecting components Traceback (most recent call last): File "/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py", line 8, in <module> hcf.init(sys.argv[1], sys.argv[2]) File "/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py", line 16, in init HrpsysConfigurator.init(self, robotname, url) File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 2083, in init self.connectComps() File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 289, in connectComps connectPorts(self.sh.port("qOut"), tmp_controllers[0].port("qRef")) File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 541, in connectPorts if isConnected(outP, inP) == True and False: File "/home/iory/catkin_ws/hrp2/devel/lib/python2.7/dist-packages/hrpsys/rtm.py", line 480, in isConnected op = outP.get_port_profile() File "/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1205, in get_port_profile return _omnipy.invoke(self, "get_port_profile", _0_RTC.PortService._d_get_port_profile, args) omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) [hrpsys-3] process has died [pid 32580, exit code -6, cmd /home/iory/catkin_ws/hrp2/devel/lib/hrpsys/hrpsys-simulator /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.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:/home/iory/catkin_ws/hrp2/devel/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/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ForwardKinematics.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ImpedanceController.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.AutoBalancer.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.StateHolder.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.TorqueFilter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.TorqueController.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ThermoEstimator.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.ThermoLimiter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.VirtualForceSensor.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.AbsoluteForceSensor.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.KalmanFilter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.Stabilizer.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.CollisionDetector.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.SoftErrorLimiter.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.HGcontroller.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.PDcontroller.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.EmergencyStopper.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf -o example.RobotHardware.config_file:/home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf __name:=hrpsys __log:=/home/iory/.ros/log/7450b30a-ffb4-11e5-983d-507b9d9efada/hrpsys-3.log]. log file: /home/iory/.ros/log/7450b30a-ffb4-11e5-983d-507b9d9efada/hrpsys-3*.log [hrpsys_py-4] process has died [pid 32581, exit code 1, cmd /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py HRP2JSKNTS(Robot)0 /home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=hrpsys_py __log:=/home/iory/.ros/log/7450b30a-ffb4-11e5-983d-507b9d9efada/hrpsys_py-4.log]. log file: /home/iory/.ros/log/7450b30a-ffb4-11e5-983d-507b9d9efada/hrpsys_py-4*.log [hrpsys-3] restarting process process[hrpsys-3]: started with pid [32649] cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint [Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf] Loading body customizer "/home/iory/catkin_ws/hrp2/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for cache found for file:///home/iory/catkin_ws/hrp4/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl

[hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") ;; ;; Could not open /dev/console for writing. ;; open: Permission denied [co] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl QH6214 qhull input error: not enough points(3) to construct initial simplex (need 4) While executing: | qhull Qt Tc Options selected for Qhull 2012.1 2012/02/18: run-id 656808813 Qtriangulate Tcheck-frequently _pre-merge _zero-centrum QH6205 qhull error (qh_initqhull_start): qh_qh already defined. Call qh_save_qhull() first freeglut ERROR: Function <glutBitmapCharacter> called without first calling 'glutInit'. terminate called after throwing an instance of 'omni_thread_fatal' [hrpsys.py] Fail to createComps CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

いかがhrp2jsknts_startup.launchの結果です．

rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts_startup.launch
[rtmlaunch] Start omniNames at port 15005 

Mon Apr 11 16:25:35 2016:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f0000003133332e31312e3231362e31373400009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000006f510b5701006f78
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/iory/.ros/log/9586f08c-ffb6-11e5-8d53-507b9d9efada/roslaunch-crab-28530.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://133.11.216.174:43389/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /use_sim_time: True

NODES
  /
    hrpsys (hrpsys/hrpsys-simulator)
    hrpsys_py (hrpsys_ros_bridge_tutorials/hrp2jsknts_hrpsys_config.py)
    modelloader (openhrp3/openhrp-model-loader)

auto-starting new master
process[master]: started with pid [28545]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9586f08c-ffb6-11e5-8d53-507b9d9efada
process[rosout-1]: started with pid [28558]
started core service [/rosout]
process[modelloader-2]: started with pid [28561]
ready
process[hrpsys-3]: started with pid [28587]
process[hrpsys_py-4]: started with pid [28588]
loading file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
The model was successfully loaded ! 
Loading body customizer "/home/iory/catkin_ws/hrp2_debug/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[Bush customizer] Could not open [/opt/ros/indigo/share/openhrp3/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf]
Loading body customizer "/home/iory/catkin_ws/hrp2_debug/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
loading file:///home/iory/catkin_ws/hrp2_debug/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
The model was successfully loaded ! 
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HRP2JSKNTS(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fa78af1c200> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fa78af1c200> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py]   bodyinfo URL = file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fa78af0e200> (315.7.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fa78a4bac20>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[sh] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b80e0> (315.7.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fa78a4d6908>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[fk] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4cda70> (315.7.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fa78a4c5b90>
[hrpsys.py]   eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf")
[tf] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b8f38> (315.7.0)
("can't find a service named", 'service0')
[hrpsys.py]   eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf")
[kf] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[kf]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7fa78af26b90> (315.7.0)
[hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7fa78a4cae18>
[hrpsys.py]   eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs")
[vs] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b2320> (315.7.0)
[hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7fa78a4be680>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[rmfo] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7fa78af26b48> (315.7.0)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7fa78a4b3488>
[hrpsys.py]   eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es")
[es] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b8bd8> (315.7.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7fa78a4cf758>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[ic] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[ic] force sensor ports
[ic]   name = rfsensor
[ic]   name = lfsensor
[ic]   name = rhsensor
[ic]   name = lhsensor
[ic] End Effector [rleg]RLEG_JOINT6 WAIST
[ic]   target = RLEG_JOINT6, base = WAIST
[ic]   localPos =     [-0.079411,  -0.01,  -0.034][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [lleg]LLEG_JOINT6 WAIST
[ic]   target = LLEG_JOINT6, base = WAIST
[ic]   localPos =     [-0.079411,  0.01,  -0.034][m]
[ic]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[ic] End Effector [rarm]RARM_JOINT6 CHEST_JOINT1
[ic]   target = RARM_JOINT6, base = CHEST_JOINT1
[ic]   localPos =     [-0.0042,  0.0392,  -0.1245][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] End Effector [larm]LARM_JOINT6 CHEST_JOINT1
[ic]   target = LARM_JOINT6, base = CHEST_JOINT1
[ic]   localPos =     [-0.0042,  -0.0392,  -0.1245][m]
[ic]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[ic] Add impedance params
[ic]   sensor = rfsensor, sensor-link = RLEG_JOINT5, ee_name = rleg, ee-link = RLEG_JOINT6
[ic]   sensor = lfsensor, sensor-link = LLEG_JOINT5, ee_name = lleg, ee-link = LLEG_JOINT6
[ic]   sensor = rhsensor, sensor-link = RARM_JOINT6, ee_name = rarm, ee-link = RARM_JOINT6
[ic]   sensor = lhsensor, sensor-link = LARM_JOINT6, ee_name = larm, ee-link = LARM_JOINT6
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4beef0> (315.7.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fa78a4cf3b0>
[hrpsys.py]   eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc")
[abc] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[abc] End Effector [rleg]
[abc]   target = RLEG_JOINT6, base = WAIST
[abc]   offset_pos =     [-0.079411,  -0.01,  -0.034][m]
[abc]   has_toe_joint = true
[abc] End Effector [lleg]
[abc]   target = LLEG_JOINT6, base = WAIST
[abc]   offset_pos =     [-0.079411,  0.01,  -0.034][m]
[abc]   has_toe_joint = true
[abc] End Effector [rarm]
[abc]   target = RARM_JOINT6, base = CHEST_JOINT1
[abc]   offset_pos =     [-0.0042,  0.0392,  -0.1245][m]
[abc]   has_toe_joint = false
[abc] End Effector [larm]
[abc]   target = LARM_JOINT6, base = CHEST_JOINT1
[abc]   offset_pos =     [-0.0042,  -0.0392,  -0.1245][m]
[abc]   has_toe_joint = false
[abc] abc_leg_offset =     [0,  0.105,  0][m]
[abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m]
[abc] force sensor ports (4)
[abc]   name = ref_rfsensor
[abc]   name = ref_lfsensor
[abc]   name = ref_rhsensor
[abc]   name = ref_lhsensor
[abc]   name = rfsensor
[abc]   name = lfsensor
[abc]   name = rhsensor
[abc]   name = lhsensor
[abc] limbCOPOffset ports (4)
[abc]   name = limbCOPOffset_rfsensor
[abc]   name = limbCOPOffset_lfsensor
[abc]   name = limbCOPOffset_rhsensor
[abc]   name = limbCOPOffset_lhsensor
[hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b23b0> (315.7.0)
[hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7fa78a469290>
[hrpsys.py]   eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st")
[st] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[st] force sensor ports (4)
[st]   name = rfsensor
[st]   name = lfsensor
[st]   name = rhsensor
[st]   name = lhsensor
[st] limbCOPOffset ports (4)
[st]   name = limbCOPOffset_rfsensor
[st]   name = limbCOPOffset_lfsensor
[st]   name = limbCOPOffset_rhsensor
[st]   name = limbCOPOffset_lhsensor
[st] End Effector [rleg]
[st]   target = RLEG_JOINT6, base = WAIST, sensor_name = rfsensor
[st]   offset_pos =     [-0.079411,  -0.01,  -0.034][m]
[st] End Effector [lleg]
[st]   target = LLEG_JOINT6, base = WAIST, sensor_name = lfsensor
[st]   offset_pos =     [-0.079411,  0.01,  -0.034][m]
[st] End Effector [rarm]
[st]   target = RARM_JOINT6, base = CHEST_JOINT1, sensor_name = rhsensor
[st]   offset_pos =     [-0.0042,  0.0392,  -0.1245][m]
[st] End Effector [larm]
[st]   target = LARM_JOINT6, base = CHEST_JOINT1, sensor_name = lhsensor
[st]   offset_pos =     [-0.0042,  -0.0392,  -0.1245][m]
[hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b3dd0> (315.7.0)
[hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7fa78a48aa70>
[hrpsys.py]   eval : [self.tc, self.tc_svc, self.tc_version] = self.createComp("TorqueController","tc")
[tc] onInitialize()
file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[tc]torque_controller_params is not correct number, 0. Use default controller.
[tc]use TwoDofController
[tc]size of torque_controller_min_max_dq 0 is not correct number 68. Use default values.
[hrpsys.py] create Comp -> TorqueController : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4cb128> (315.7.0)
[hrpsys.py] create CompSvc -> TorqueController Service : <OpenHRP._objref_TorqueControllerService instance at 0x7fa78a4be998>
[hrpsys.py]   eval : [self.te, self.te_svc, self.te_version] = self.createComp("ThermoEstimator","te")
[te] : onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[te] : ambient temperature: 25
[te] [WARN]: size of error2tau is 0, not equal to 34
[hrpsys.py] create Comp -> ThermoEstimator : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4b3f80> (315.7.0)
("can't find a service named", 'service0')
[hrpsys.py]   eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes")
[hes] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4ca368> (315.7.0)
[hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7fa78a4d6f80>
[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
[el] onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[el] Load joint limit table [12]
[el] RLEG_JOINT0:LLEG_JOINT0(7)
[el]   target_llimit_angle -30[deg], target_ulimit_angle 45[deg]
[el]   llimit_table[deg] -44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-42,-39,-38,-37,-36,-35,-34,-33,-32,-31,-31,-31,-30,-30
[el]   ulimit_table[deg] 29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29,29
[el] RLEG_JOINT1:RLEG_JOINT2(2)
[el]   target_llimit_angle -125[deg], target_ulimit_angle 42[deg]
[el]   llimit_table[deg] 0,0,0,0,0,0,0,0,0,0,0,0,-1,-1,-1,-2,-3,-4,-5,-6,-7,-8,-9,-10,-11,-12,-13,-14,-15,-15,-16,-17,-18,-19,-20,-21,-22,-23,-24,-25,-26,-27,-28,-29,-30,-31,-31,-32,-32,-33,-33,-33,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34,-34
[el]   ulimit_table[deg] 19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19
[el] RLEG_JOINT2:RLEG_JOINT1(1)
[el]   target_llimit_angle -35[deg], target_ulimit_angle 20[deg]
[el]   llimit_table[deg] -72,-75,-77,-79,-80,-81,-82,-83,-84,-85,-86,-87,-88,-89,-90,-91,-92,-93,-94,-96,-97,-98,-99,-100,-101,-102,-103,-104,-105,-106,-107,-108,-109,-112,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124
[el]   ulimit_table[deg] 41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41
[el] LLEG_JOINT0:RLEG_JOINT0(0)
[el]   target_llimit_angle -45[deg], target_ulimit_angle 30[deg]
[el]   llimit_table[deg] -29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29,-29
[el]   ulimit_table[deg] 30,30,31,31,31,32,33,34,35,36,37,38,39,42,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44
[el] LLEG_JOINT1:LLEG_JOINT2(9)
[el]   target_llimit_angle -125[deg], target_ulimit_angle 42[deg]
[el]   llimit_table[deg] -19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19,-19
[el]   ulimit_table[deg] 0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,31,32,32,33,33,33,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34,34
[el] LLEG_JOINT2:LLEG_JOINT1(8)
[el]   target_llimit_angle -20[deg], target_ulimit_angle 35[deg]
[el]   llimit_table[deg] -124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-124,-112,-109,-108,-107,-106,-105,-104,-103,-102,-101,-100,-99,-98,-97,-96,-94,-93,-92,-91,-90,-89,-88,-87,-86,-85,-84,-83,-82,-81,-80,-79,-77,-75,-72
[el]   ulimit_table[deg] 41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41
[el] CHEST_JOINT0:CHEST_JOINT1(15)
[el]   target_llimit_angle -5[deg], target_ulimit_angle 60[deg]
[el]   llimit_table[deg] -29,-37,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-44,-37,-19,-17,-16,-14,-13,-12,-11,-9,-8,-7,-6,-5,-4,-3
[el]   ulimit_table[deg] 29,37,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,37,19,17,16,14,13,12,11,9,8,7,6,5,4,3
[el] CHEST_JOINT1:CHEST_JOINT0(14)
[el]   target_llimit_angle -45[deg], target_ulimit_angle 45[deg]
[el]   llimit_table[deg] -2,-2,-2,-2,-2,-2,-2,-3,-3,-3,-3,-3,-3,-3,-3,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-4,-3,-3,-3,-3,-3,-3,-3,-3,-2,-2,-2,-2,-2,-2,-2
[el]   ulimit_table[deg] 44,44,44,44,44,44,44,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,46,46,47,48,48,49,50,51,52,52,53,54,55,56,57,58,59,59,59,59,59,59,59,59,59,58,57,56,55,54,53,52,52,51,50,49,48,48,47,46,46,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,44,44,44,44,44,44,44
[el] RARM_JOINT5:RARM_JOINT6(24)
[el]   target_llimit_angle -92[deg], target_ulimit_angle 92[deg]
[el]   llimit_table[deg] -30,-31,-32,-33,-34,-35,-36,-36,-37,-38,-38,-39,-40,-40,-41,-42,-42,-43,-44,-45,-45,-46,-47,-48,-48,-49,-50,-51,-52,-53,-54,-54,-55,-56,-57,-58,-59,-60,-61,-62,-63,-64,-65,-66,-68,-69,-70,-71,-72,-74,-75,-76,-78,-79,-80,-81,-83,-84,-85,-86,-87,-88,-89,-90,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-90,-89,-87,-86,-85,-84,-83,-82,-81,-79,-78,-77,-76,-75,-74,-73,-72,-72,-71,-70,-69,-68,-67,-66,-65,-65,-64,-62,-61,-60,-59,-59,-58,-57,-56,-55,-54,-53,-52,-51,-50,-49,-49,-48,-47,-46,-45,-44,-44,-43,-42,-41,-41,-40,-39,-39,-38,-37,-36,-36,-35,-34,-34,-33,-32,-31
[el]   ulimit_table[deg] 25,26,27,28,28,29,30,30,31,32,32,33,34,34,35,36,37,37,38,39,40,40,41,42,43,44,45,46,48,49,50,51,52,54,55,57,58,57,61,62,64,65,67,68,69,70,71,72,73,73,74,75,76,76,77,78,79,80,81,82,82,83,84,85,86,87,88,89,90,90,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,90,90,89,88,87,87,86,85,84,83,82,81,80,79,78,77,76,75,74,73,71,69,68,66,65,62,59,58,58,58,57,57,57,57,56,56,56,55,54,53,52,51,49,48,47,46,45,44,43,42,41,40,39,38,37,37,36,35,34,33,32,32,31,30,30,29,28,27,27,26
[el] RARM_JOINT6:RARM_JOINT5(23)
[el]   target_llimit_angle -92[deg], target_ulimit_angle 92[deg]
[el]   llimit_table[deg] -27,-28,-29,-30,-31,-32,-33,-34,-35,-35,-36,-37,-38,-39,-39,-40,-41,-42,-42,-43,-44,-45,-46,-47,-47,-48,-49,-50,-51,-52,-53,-54,-55,-56,-57,-58,-59,-61,-62,-63,-64,-65,-66,-68,-69,-70,-72,-73,-74,-76,-77,-79,-80,-82,-83,-85,-86,-87,-88,-89,-90,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-90,-89,-88,-86,-85,-83,-82,-80,-79,-77,-76,-75,-73,-72,-71,-69,-68,-67,-66,-65,-64,-63,-63,-62,-61,-60,-59,-58,-58,-57,-56,-56,-55,-48,-50,-53,-52,-51,-51,-50,-49,-49,-48,-47,-46,-45,-44,-43,-41,-40,-39,-37,-36,-35,-34,-33,-32,-30,-29,-28,-27,-26,-25,-24,-23,-21
[el]   ulimit_table[deg] 25,26,27,27,28,29,30,31,32,33,34,34,35,36,37,38,39,40,41,43,44,45,46,47,48,49,51,52,52,53,54,55,57,58,59,60,61,62,63,64,65,66,68,69,70,71,72,74,75,76,78,79,81,82,83,85,86,88,89,90,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,90,88,87,86,84,83,81,80,79,78,77,75,74,73,72,71,70,69,68,67,66,65,64,63,63,62,61,60,59,58,55,51,48,47,47,47,46,46,46,45,44,44,43,42,42,41,41,40,39,38,37,36,35,34,33,32,31,30,29,28,27,25,24,23,21
[el] LARM_JOINT5:LARM_JOINT6(32)
[el]   target_llimit_angle -92[deg], target_ulimit_angle 92[deg]
[el]   llimit_table[deg] -25,-26,-27,-28,-28,-29,-30,-30,-31,-32,-32,-33,-34,-34,-35,-36,-37,-37,-38,-39,-40,-40,-41,-42,-43,-44,-45,-46,-48,-49,-50,-51,-52,-54,-55,-57,-57,-57,-61,-62,-64,-65,-67,-68,-70,-71,-71,-72,-73,-74,-74,-75,-76,-77,-78,-79,-79,-80,-81,-82,-83,-84,-85,-86,-87,-87,-88,-89,-90,-90,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-90,-90,-89,-88,-87,-87,-86,-85,-84,-83,-82,-81,-80,-79,-78,-77,-76,-75,-74,-73,-70,-67,-63,-54,-53,-56,-57,-57,-56,-56,-56,-56,-56,-55,-55,-55,-55,-54,-54,-53,-52,-51,-49,-48,-47,-46,-45,-44,-43,-42,-41,-40,-39,-38,-37,-37,-36,-35,-34,-33,-32,-32,-31,-30,-30,-29,-28,-27,-27,-26
[el]   ulimit_table[deg] 30,31,32,33,34,35,36,36,37,38,38,39,40,40,41,42,42,43,44,45,45,46,47,48,48,49,50,51,52,53,54,54,55,56,57,58,59,60,61,62,63,64,65,66,68,69,70,71,72,74,75,76,78,79,80,81,83,84,85,86,87,88,89,90,90,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,90,89,87,86,85,84,83,82,81,79,78,77,76,75,74,73,72,72,71,70,69,68,67,66,65,65,64,62,61,60,59,59,58,57,56,55,54,53,52,51,50,49,49,48,47,46,45,44,44,43,42,41,41,40,39,39,38,37,36,36,35,34,34,33,32,31
[el] LARM_JOINT6:LARM_JOINT5(31)
[el]   target_llimit_angle -92[deg], target_ulimit_angle 92[deg]
[el]   llimit_table[deg] -21,-23,-24,-25,-27,-28,-29,-30,-31,-32,-33,-34,-36,-37,-38,-39,-40,-42,-43,-44,-46,-47,-47,-48,-49,-49,-50,-51,-51,-52,-53,-53,-53,-53,-56,-56,-57,-58,-58,-59,-60,-61,-62,-63,-63,-64,-65,-66,-67,-68,-69,-71,-72,-73,-75,-76,-77,-79,-80,-82,-83,-85,-86,-88,-89,-90,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-91,-90,-89,-88,-87,-86,-85,-83,-82,-80,-79,-77,-76,-74,-73,-72,-70,-69,-68,-66,-65,-64,-63,-62,-61,-59,-58,-57,-56,-55,-54,-53,-52,-51,-50,-49,-48,-47,-47,-46,-45,-44,-43,-42,-42,-41,-40,-39,-39,-38,-37,-36,-35,-35,-34,-33,-32,-31,-30,-29,-28,-26
[el]   ulimit_table[deg] 21,23,24,25,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,41,41,42,42,42,43,43,43,43,44,44,43,43,43,43,49,54,58,60,61,62,63,63,64,65,66,67,68,69,70,71,72,73,74,75,77,78,79,80,81,83,84,86,87,88,90,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,91,90,89,88,86,85,83,82,81,79,78,76,75,74,72,71,70,69,68,66,65,64,63,62,61,60,59,58,57,55,54,53,52,52,51,49,48,47,46,45,44,43,41,40,39,38,37,36,35,34,34,33,32,31,30,29,28,27,27,26,25
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4cdcb0> (315.7.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fa78a4c5908>
[hrpsys.py]   eval : [self.tl, self.tl_svc, self.tl_version] = self.createComp("ThermoLimiter","tl")
[tl] : onInitialize()
cache found for file:///home/iory/catkin_ws/hrp2_debug/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
[tl] : ambient temperature: 25
[hrpsys.py] create Comp -> ThermoLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4be248> (315.7.0)
[hrpsys.py] create CompSvc -> ThermoLimiter Service : <OpenHRP._objref_ThermoLimiterService instance at 0x7fa78a4caf80>
[hrpsys.py]   eval : [self.bp, self.bp_svc, self.bp_version] = self.createComp("Beeper","bp")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[bp] : onInitialize()
[hrpsys.py] create Comp -> Beeper : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4cd9e0> (315.7.0)
("can't find a service named", 'service0')
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[log] onInitialize()
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7fa78a4cf830> (315.7.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7fa78a4bad40>
[hrpsys.py] connecting components
[rtm.py]    Connect sh.qOut - es.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.q - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - abc.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.q - st.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.q - tc.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tc.q - hes.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect hes.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - HGcontroller0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HGcontroller0.qOut - HRP2JSKNTS(Robot)0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.gsensor - kf.acc (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.gyrometer - kf.rate (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - kf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.servoState - te.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect te.servoStateOut - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.rfsensorRef - sh.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.lfsensorRef - sh.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.rhsensorRef - sh.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.lhsensorRef - sh.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect kf.rpy - st.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - abc.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - abc.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - abc.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.optionalDataOut - abc.optionalData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.zmpOut - st.zmpRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.baseRpyOut - st.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.basePosOut - st.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.accRef - kf.accRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.contactStates - st.contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.controlSwingSupportTime - st.controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - st.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - st.qRefSeq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.walkingStates - st.walkingStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.sbpCogOffset - st.sbpCogOffset (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.emergencySignal - es.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect st.emergencySignal - abc.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.rfsensor - st.rfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.rfsensorOut - es.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rfsensorOut - ic.ref_rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rfsensorOut - abc.ref_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_rfsensor - st.limbCOPOffset_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.lfsensor - st.lfsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.lfsensorOut - es.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lfsensorOut - ic.ref_lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lfsensorOut - abc.ref_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_lfsensor - st.limbCOPOffset_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.rhsensor - st.rhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.rhsensorOut - es.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rhsensorOut - ic.ref_rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.rhsensorOut - abc.ref_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_rhsensor - st.limbCOPOffset_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.lhsensor - st.lhsensorRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.lhsensorOut - es.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lhsensorOut - ic.ref_lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.lhsensorOut - abc.ref_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect abc.limbCOPOffset_lhsensor - st.limbCOPOffset_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect kf.rpy - rmfo.rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.rfsensor - rmfo.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - ic.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rfsensor - st.rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.lfsensor - rmfo.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - ic.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lfsensor - st.lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_rhsensor - st.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect rmfo.off_lhsensor - st.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.tau - tf.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - tf.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - vs.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tf.tauOut - vs.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - te.qCurrentIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - te.qRefIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tf.tauOut - te.tauIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect te.tempOut - tl.tempIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - tc.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tf.tauOut - tc.tauCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tl.tauMax - tc.tauMax (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HRP2JSKNTS(Robot)0.servoState - es.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect tl.beepCommand - bp.beepCommand (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect es.beepCommand - bp.beepCommand (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.beepCommand - bp.beepCommand (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating components
[fk] onActivated(1000)
[tf] onActivated(1000)
[kf] onActivated(1000)
[vs] onActivated(1000)
[rmfo] onActivated(1000)
[es] onActivated(1000)
[ic] onActivated(1000)
[abc] onActivated(1000)
[st] onActivated(1000)
[tc] onActivated(1000)
[te] : onActivated(1000)
[hes] onActivated(1000)
[el] onActivated(1000)
[tl] : onActivated(1000)
[bp] : onActivated(1000)
[hrpsys.py] setup logger
[log] Log max length is set to 4000
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to HRP2JSKNTS(Robot)0_q
[rtm.py]    Connect HRP2JSKNTS(Robot)0.q - log.HRP2JSKNTS(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = dq to HRP2JSKNTS(Robot)0_dq
[rtm.py]    Connect HRP2JSKNTS(Robot)0.dq - log.HRP2JSKNTS(Robot)0_dq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to HRP2JSKNTS(Robot)0_tau
[rtm.py]    Connect HRP2JSKNTS(Robot)0.tau - log.HRP2JSKNTS(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rfsensor to HRP2JSKNTS(Robot)0_rfsensor
[rtm.py]    Connect HRP2JSKNTS(Robot)0.rfsensor - log.HRP2JSKNTS(Robot)0_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lfsensor to HRP2JSKNTS(Robot)0_lfsensor
[rtm.py]    Connect HRP2JSKNTS(Robot)0.lfsensor - log.HRP2JSKNTS(Robot)0_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedAcceleration3D, name = gsensor to HRP2JSKNTS(Robot)0_gsensor
[rtm.py]    Connect HRP2JSKNTS(Robot)0.gsensor - log.HRP2JSKNTS(Robot)0_gsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedAngularVelocity3D, name = gyrometer to HRP2JSKNTS(Robot)0_gyrometer
[rtm.py]    Connect HRP2JSKNTS(Robot)0.gyrometer - log.HRP2JSKNTS(Robot)0_gyrometer (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensor to HRP2JSKNTS(Robot)0_rhsensor
[rtm.py]    Connect HRP2JSKNTS(Robot)0.rhsensor - log.HRP2JSKNTS(Robot)0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensor to HRP2JSKNTS(Robot)0_lhsensor
[rtm.py]    Connect HRP2JSKNTS(Robot)0.lhsensor - log.HRP2JSKNTS(Robot)0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = rpy to kf_rpy
[rtm.py]    Connect kf.rpy - log.kf_rpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py]    Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to abc_zmpOut
[rtm.py]    Connect abc.zmpOut - log.abc_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = baseTformOut to abc_baseTformOut
[rtm.py]    Connect abc.baseTformOut - log.abc_baseTformOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to abc_q
[rtm.py]    Connect abc.q - log.abc_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedBooleanSeq, name = contactStates to abc_contactStates
[rtm.py]    Connect abc.contactStates - log.abc_contactStates (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = controlSwingSupportTime to abc_controlSwingSupportTime
[rtm.py]    Connect abc.controlSwingSupportTime - log.abc_controlSwingSupportTime (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = cogOut to abc_cogOut
[rtm.py]    Connect abc.cogOut - log.abc_cogOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmp to st_zmp
[rtm.py]    Connect st.zmp - log.st_zmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefZmp to st_originRefZmp
[rtm.py]    Connect st.originRefZmp - log.st_originRefZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefCog to st_originRefCog
[rtm.py]    Connect st.originRefCog - log.st_originRefCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originRefCogVel to st_originRefCogVel
[rtm.py]    Connect st.originRefCogVel - log.st_originRefCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originNewZmp to st_originNewZmp
[rtm.py]    Connect st.originNewZmp - log.st_originNewZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActZmp to st_originActZmp
[rtm.py]    Connect st.originActZmp - log.st_originActZmp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActCog to st_originActCog
[rtm.py]    Connect st.originActCog - log.st_originActCog (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = originActCogVel to st_originActCogVel
[rtm.py]    Connect st.originActCogVel - log.st_originActCogVel (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = allRefWrench to st_allRefWrench
[rtm.py]    Connect st.allRefWrench - log.st_allRefWrench (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = allEEComp to st_allEEComp
[rtm.py]    Connect st.allEEComp - log.st_allEEComp (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to st_q
[rtm.py]    Connect st.q - log.st_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = actBaseRpy to st_actBaseRpy
[rtm.py]    Connect st.actBaseRpy - log.st_actBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = currentBasePos to st_currentBasePos
[rtm.py]    Connect st.currentBasePos - log.st_currentBasePos (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = currentBaseRpy to st_currentBaseRpy
[rtm.py]    Connect st.currentBaseRpy - log.st_currentBaseRpy (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = debugData to st_debugData
[rtm.py]    Connect st.debugData - log.st_debugData (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py]    Connect el.q - log.el_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]    Connect HRP2JSKNTS(Robot)0.emergencySignal - log.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to HRP2JSKNTS(Robot)0_servoState
[rtm.py]    Connect HRP2JSKNTS(Robot)0.servoState - log.HRP2JSKNTS(Robot)0_servoState (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPose3D, name = WAIST to HRP2JSKNTS(Robot)0_WAIST
[rtm.py]    Connect HRP2JSKNTS(Robot)0.WAIST - log.HRP2JSKNTS(Robot)0_WAIST (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rfsensorOut to sh_rfsensorOut
[rtm.py]    Connect sh.rfsensorOut - log.sh_rfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lfsensorOut to sh_lfsensorOut
[rtm.py]    Connect sh.lfsensorOut - log.sh_lfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut
[rtm.py]    Connect sh.rhsensorOut - log.sh_rhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut
[rtm.py]    Connect sh.lhsensorOut - log.sh_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rfsensor to rmfo_off_rfsensor
[rtm.py]    Connect rmfo.off_rfsensor - log.rmfo_off_rfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lfsensor to rmfo_off_lfsensor
[rtm.py]    Connect rmfo.off_lfsensor - log.rmfo_off_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor
[rtm.py]    Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor
[rtm.py]    Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[log] Log cleared
[hrpsys.py] setup joint groups
[addJointGroup] group name = rleg
[addJointGroup] group name = lleg
[addJointGroup] group name = torso
[addJointGroup] group name = head
[el] beepCommand data port connection found! Use BeeperRTC.
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[hrpsys.py] initialized successfully
initialize rtc parameters
[abc] setAutoBalancerParam
[abc]   leg_names cannot be set because interpolating.
[abc]   is_hand_fix_mode = 0
[abc] End Effector [larm]
[abc]   localpos =     [-0.0042,  -0.0392,  -0.1245][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [lleg]
[abc]   localpos =     [-0.079411,  0.01,  -0.034][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc] End Effector [rarm]
[abc]   localpos =     [-0.0042,  0.0392,  -0.1245][m]
[abc]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[abc] End Effector [rleg]
[abc]   localpos =     [-0.079411,  -0.01,  -0.034][m]
[abc]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   move_base_gain = 0.8
[abc]   default_zmp_offsets = 0.015 0.01 0 0.015 -0.01 0 0 0 0 0 0 0 
[abc]   use_force_mode = 1
[abc]   graspless_manip_mode = 0
[abc]   graspless_manip_arm = arms
[abc]   graspless_manip_p_gain =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_pos =     [0,  0,  0]
[abc]   graspless_manip_reference_trans_rot =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[abc]   transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s]
[abc]   leg_names [rleg]
[abc]   leg_names [lleg]
[abc]   pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad]
[abc]   default_gait_type = 0
[abc]  IK limb parameters
[abc]   ik_optional_weight_vectors = [1 1 1 1 1 1 0 ][1 1 1 1 1 1 0 ][1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 ]
[abc]   sr_gains = [1, 1, 1, 1, ]
[abc]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[abc]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[abc]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[st] getParameter
[st] setParameter
[st]  TPCC
[st]   k_tpcc_p  = [2, 2]
[st]   k_tpcc_x  = [5, 5]
[st]   k_brot_p  = [0, 0]
[st]   k_brot_tc = [0.1, 0.1]
[st]  EEFM
[st]   eefm_support_polygon_vertices_sequence set
[st]   vs = [0.13 0.062] [0.13 -0.062] [-0.095 -0.062] [-0.095 0.062] [m]
[st]   vs = [0.13 0.062] [0.13 -0.062] [-0.095 -0.062] [-0.095 0.062] [m]
[st]   vs = [0.13 0.062] [0.13 -0.062] [-0.095 -0.062] [-0.095 0.062] [m]
[st]   vs = [0.13 0.062] [0.13 -0.062] [-0.095 -0.062] [-0.095 0.062] [m]
[st]   is_ik_enable is [1][1][0][0]
[st]   is_feedback_control_enable is [1][1][0][0]
[st]   is_zmp_calc_enable is [1][1][0][0]
[st] End Effector [rleg]
[st]   localpos =     [-0.079411,  -0.01,  -0.034][m]
[st]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[st] End Effector [lleg]
[st]   localpos =     [-0.079411,  0.01,  -0.034][m]
[st]   localR =     [1, 0, 0]
    [0, 1, 0]
    [0, 0, 1]
[st] End Effector [rarm]
[st]   localpos =     [-0.0042,  0.0392,  -0.1245][m]
[st]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[st] End Effector [larm]
[st]   localpos =     [-0.0042,  -0.0392,  -0.1245][m]
[st]   localR =     [-3.67321e-06,            0,            1]
    [           0,            1,            0]
    [          -1,            0, -3.67321e-06]
[st]   foot_origin_offset is     [0,  0,  0]    [0,  0,  0][m]
[st]   eefm_k1  = [-1.27286, -1.27286]
[st]   eefm_k2  = [-0.363674, -0.363674]
[st]   eefm_k3  = [-0.162, -0.162]
[st]   eefm_zmp_delay_time_const  = [0.055, 0.055][s]
[st]   eefm_ref_zmp_aux  = [0, 0][m]
[st]   eefm_body_attitude_control_gain  = [1.5, 1.5]
[st]   eefm_body_attitude_control_time_const  = [10000, 10000][s]
[st]   [rleg] eefm_rot_damping_gain =     [32,  32,  100000], eefm_rot_time_const =     [1.5,  1.5,  1.5][s]
[st]   [rleg] eefm_pos_damping_gain =     [175000,  175000,  3500], eefm_pos_time_const_support =     [1.5,  1.5,  1.5][s]
[st]   [rleg] eefm_pos_compensation_limit = 0.025[m],  eefm_rot_compensation_limit = 0.174533[rad]
[st]   [rleg] eefm_swing_pos_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rleg] eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [lleg] eefm_rot_damping_gain =     [32,  32,  100000], eefm_rot_time_const =     [1.5,  1.5,  1.5][s]
[st]   [lleg] eefm_pos_damping_gain =     [175000,  175000,  3500], eefm_pos_time_const_support =     [1.5,  1.5,  1.5][s]
[st]   [lleg] eefm_pos_compensation_limit = 0.025[m],  eefm_rot_compensation_limit = 0.174533[rad]
[st]   [lleg] eefm_swing_pos_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [lleg] eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [rarm] eefm_rot_damping_gain =     [32,  32,  100000], eefm_rot_time_const =     [1.5,  1.5,  1.5][s]
[st]   [rarm] eefm_pos_damping_gain =     [175000,  175000,  3500], eefm_pos_time_const_support =     [1.5,  1.5,  1.5][s]
[st]   [rarm] eefm_pos_compensation_limit = 0.025[m],  eefm_rot_compensation_limit = 0.174533[rad]
[st]   [rarm] eefm_swing_pos_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [rarm] eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   [larm] eefm_rot_damping_gain =     [32,  32,  100000], eefm_rot_time_const =     [1.5,  1.5,  1.5][s]
[st]   [larm] eefm_pos_damping_gain =     [175000,  175000,  3500], eefm_pos_time_const_support =     [1.5,  1.5,  1.5][s]
[st]   [larm] eefm_pos_compensation_limit = 0.025[m],  eefm_rot_compensation_limit = 0.174533[rad]
[st]   [larm] eefm_swing_pos_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], eefm_swing_rot_spring_gain =     [0,  0,  0], eefm_swing_pos_time_const =     [1.5,  1.5,  1.5], 
[st]   [larm] eefm_ee_moment_limit =     [10000,  10000,  10000][Nm]
[st]   eefm_pos_transition_time = 0.01[s], eefm_pos_margin_time = 0.02[s] eefm_pos_time_const_swing = 0.08[s]
[st]   cogvel_cutoff_freq = 6[Hz]
[st]   leg_inside_margin = 0.062[m], leg_outside_margin = 0.062[m], leg_front_margin = 0.13[m], leg_rear_margin = 0.095[m]
[st]   wrench_alpha_blending = 0.6, alpha_cutoff_freq = 1e+07[Hz]
[st]   eefm_gravitational_acceleration = 9.80665[m/s^2], eefm_use_force_difference_control = true
[st]   eefm_ee_pos_error_p_gain = 0, eefm_ee_rot_error_p_gain = 0, eefm_ee_error_cutoff_freq = 50[Hz]
[st]  COMMON
[st]   st_algorithm changed to [EEFMQP]
[st]   emergency_check_mode changed to [CP]
[st]  transition_time = 2[s]
[st]  cop_check_margin = 0.02[m]
[st]  cp_check_margin = [0.05, 0.045, 0, 0.1] [m]
[st]  tilt_margin = [0.523599, 0.523599] [rad]
[st]  contact_decision_threshold = 50[N]
[st]  IK limb parameters
[st]   ik_optional_weight_vectors = [1 1 1 1 1 1 0 ][1 1 1 1 1 1 0 ][1 1 1 1 1 1 1 ][1 1 1 1 1 1 1 ]
[st]   sr_gains = [1, 1, 1, 1, ]
[st]   avoid_gains = [0.001, 0.001, 0.001, 0.001, ]
[st]   reference_gains = [0.01, 0.01, 0.01, 0.01, ]
[st]   manipulability_limits = [0.1, 0.1, 0.1, 0.1, ]
[abc] setGaitGeneratorParam
[abc]   toe_heel_phase_ratio is successfully set.
[abc]   stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m]
[abc]   leg_default_translate_pos =     [-0,  -0.105,  -0]    [0,  0.105,  0]    [0,  0,  0]    [0,  0,  0]
[abc]   default_step_time = 1.1[s]
[abc]   default_step_height = 0.05[m]
[abc]   default_double_support_ratio_before = 0.16, default_double_support_ratio_before = 0.16, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.16, default_double_support_static_ratio_swing_after = 0.16
[abc]   default_orbit_type = CYCLOIDDELAY
[abc]   swing_trajectory_delay_time_offset = 0.2[s], swing_trajectory_final_distance_weight = 3
[abc]   stair_trajectory_way_point_offset =     [0.03,  0,  0][m]
[abc]   cycloid_delay_kick_point_offset =     [-0.1,  0,  0][m]
[abc]   gravitational_acceleration = 9.80665[m/s^2]
[abc]   toe_pos_offset_x = 0.142869[mm], heel_pos_offset_x = -0.105784[mm]
[abc]   toe_zmp_offset_x = 0.079411[mm], heel_zmp_offset_x = -0.105784[mm]
[abc]   toe_angle = 0[deg]
[abc]   heel_angle = 0[deg]
[abc]   use_toe_joint = true, use_toe_heel_transition = false
[abc]   toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ]
[abc]   optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1
[es] getEmergencyStopperParam
[es] setEmergencyStopperParam
[es]   default_recover_time = 10[s], default_retrieve_time = 1[s]
[hrpsys_py-4] process has finished cleanly
log file: /home/iory/.ros/log/9586f08c-ffb6-11e5-8d53-507b9d9efada/hrpsys_py-4*.log

[co] onInitialize() cache found for file:///home/iory/catkin_ws/hrp2/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl QH6214 qhull input error: not enough points(3) to construct initial simplex (need 4) While executing: | qhull Qt Tc Options selected for Qhull 2012.1 2012/02/18: run-id 656808813 Qtriangulate Tcheck-frequently _pre-merge _zero-centrum QH6205 qhull error (qh_initqhull_start): qh_qh already defined. Call qh_save_qhull() first freeglut ERROR: Function <glutBitmapCharacter> called without first calling 'glutInit'. terminate called after throwing an instance of 'omni_thread_fatal'

start-jsk / rtmros_tutorials

hrp2jsknts.launchが途中で落ちる #465