k-okada
commented
9 years ago https://github.com/tork-a/rtmros_nextage/issues/170
はやられていますのでしょうか
◉ Kei Okada
2015/05/26 1:57、RyuYamamoto notifications@github.com のメッセージ:
実機にてプログラムを実行しようとしたところ，move itのpythonプログラム側のデバッグメッセージにABORTED: Timeout reachedと出ていて実機が動作しませんでした．以下に動かしたプログラムとその時のデバッグメッセージを冗長ですが添付します.
roslaunch nextage_moveit_config moveit_planning_execution.launch
[ WARN] [1432629448.160562004]: The root link WAIST has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1432629448.160931786]: The root link WAIST has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ INFO] [1432629448.169248446]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ INFO] [1432629448.947314701]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1432629448.947748816]: Looking around: no [ INFO] [1432629448.948477102]: Replanning: no [ WARN] [1432629486.982809084]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629486.983050251]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629486.983352431]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1432629486.983643140]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1432629486.985013201]: Planning attempt 1 of at most 1 [ INFO] [1432629487.004372558]: No planner specified. Using default. [ INFO] [1432629487.005180598]: LBKPIECE1: Attempting to use default projection. [ INFO] [1432629487.008145752]: LBKPIECE1: Starting with 1 states [ INFO] [1432629488.149794234]: LBKPIECE1: Created 105 (47 start + 58 goal) states in 91 cells (45 start (45 on boundary) + 46 goal (46 on boundary)) [ INFO] [1432629488.149908252]: Solution found in 1.144098 seconds [ INFO] [1432629488.155554627]: Path simplification took 0.005454 seconds [ WARN] [1432629488.207055302]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629488.207162958]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629488.207250637]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ERROR] [1432629492.448162651]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.024098 seconds). Stopping trajectory. [ INFO] [1432629492.448438973]: Cancelling execution for rarm_controller [ WARN] [1432629493.591332107]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629493.591486891]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629493.591664470]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1432629493.591792200]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1432629493.592133290]: Planning attempt 1 of at most 1 [ INFO] [1432629493.600464275]: No planner specified. Using default. [ INFO] [1432629493.600591249]: LBKPIECE1: Attempting to use default projection. [ INFO] [1432629493.603227282]: LBKPIECE1: Starting with 1 states [ INFO] [1432629494.063985136]: LBKPIECE1: Created 48 (12 start + 36 goal) states in 36 cells (10 start (10 on boundary) + 26 goal (26 on boundary)) [ INFO] [1432629494.064089160]: Solution found in 0.463341 seconds [ INFO] [1432629494.069704393]: Path simplification took 0.005504 seconds [ WARN] [1432629494.111956799]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629494.112084585]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629494.112161812]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ERROR] [1432629498.357926602]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.024754 seconds). Stopping trajectory. [ INFO] [1432629498.358140347]: Cancelling execution for larm_controller [ WARN] [1432629499.504703284]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629499.504844590]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629499.505017935]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1432629499.505137254]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1432629499.505475093]: Planning attempt 1 of at most 1 [ INFO] [1432629499.515658725]: LBKPIECE1: Starting with 1 states [ INFO] [1432629500.350831875]: LBKPIECE1: Created 95 (33 start + 62 goal) states in 81 cells (30 start (30 on boundary) + 51 goal (51 on boundary)) [ INFO] [1432629500.351043467]: Solution found in 0.837720 seconds [ INFO] [1432629500.357247218]: Path simplification took 0.006008 seconds [ WARN] [1432629500.420898203]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629500.421098748]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629500.421229986]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ERROR] [1432629504.801996244]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.404246 seconds). Stopping trajectory. [ INFO] [1432629504.802186220]: Cancelling execution for rarm_controller [ WARN] [1432629506.582994094]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629506.583236243]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629506.583525042]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1432629506.583753205]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1432629506.584265185]: Goal constraints are already satisfied. No need to plan or execute any motions [ WARN] [1432629506.588048517]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629506.588446083]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1432629506.588887514]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1432629506.589308293]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1432629506.590240947]: Goal constraints are already satisfied. No need to plan or execute any motions [ WARN] [1432629548.813042314]: Transitioning goal to LOST ^C[rviz_marsryu_CF_S10EWHDS_8651_1125421992-2] killing on exit [move_group-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch
at 0x9961eac> (315.2.8) [ INFO] [1432629387.796011485]: ADD_GROUP: torso (/torso_controller) [ INFO] [1432629387.796210636]: JOINT: CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(torso), CORBA::SystemException INV_OBJREF [hrpsys.py] create CompSvc -> ForwardKinematics Service : [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [ INFO] [1432629388.843714292]: ADD_GROUP: larm_torso (/larm_torso_controller) [ INFO] [1432629388.843848857]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(larm_torso), CORBA::SystemException INV_OBJREF RTC named "ic" already exists. [hrpsys.py] create Comp -> ImpedanceController : (315.2.8) [ INFO] [1432629389.884034067]: ADD_GROUP: rarm_torso (/rarm_torso_controller) [ INFO] [1432629389.884123690]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(rarm_torso), CORBA::SystemException INV_OBJREF [hrpsys.py] create CompSvc -> ImpedanceController Service : [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") RTC named "el" already exists. [hrpsys.py] create Comp -> SoftErrorLimiter : (315.2.8) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : [hrpsys.py] eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc") RTC named "sc" already exists. [hrpsys.py] create Comp -> ServoController : (315.2.8) [ WARN] [1432629392.074696549]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [hrpsys.py] create CompSvc -> ServoController Service : [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") [ INFO] [1432629393.355184896]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0Hz RTC named "log" already exists. [hrpsys.py] create Comp -> DataLogger : (315.2.8) [hrpsys.py] create CompSvc -> DataLogger Service : [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [ INFO] [1432629394.379570067]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 33Hz [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] connecting components ('sh.qOutandic.qRef', 'are already connected') ('ic.qandel.qRef', 'are already connected') ('el.qandRobotHardware0.qRef', 'are already connected') [ INFO] [1432629395.381472122]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 36Hz ('RobotHardware0.servoStateandel.servoStateIn', 'are already connected') [ INFO] [1432629396.964893038]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 22Hz ('RobotHardware0.qandsh.currentQIn', 'are already connected') [ INFO] [1432629397.992159085]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz ('RobotHardware0.qandfk.q', 'are already connected') ('sh.qOutandfk.qRef', 'are already connected') ('seq.qRefandsh.qIn', 'are already connected') ('seq.tqRefandsh.tqIn', 'are already connected') ('seq.basePosandsh.basePosIn', 'are already connected') [ INFO] [1432629399.012945376]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz ('seq.baseRpyandsh.baseRpyIn', 'are already connected') ('seq.zmpRefandsh.zmpIn', 'are already connected') ('seq.optionalDataandsh.optionalDataIn', 'are already connected') ('sh.basePosOutandseq.basePosInit', 'are already connected') ('sh.basePosOutandfk.basePosRef', 'are already connected') ('sh.baseRpyOutandseq.baseRpyInit', 'are already connected') ('sh.baseRpyOutandfk.baseRpyRef', 'are already connected') ('sh.qOutandseq.qInit', 'are already connected') ('sh.zmpOutandseq.zmpRefInit', 'are already connected') [ INFO] [1432629401.033873099]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [ INFO] [1432629402.054672973]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [ INFO] [1432629403.066535521]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 49Hz [ INFO] [1432629404.100700621]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 18Hz ('RobotHardware0.qandic.qCurrent', 'are already connected') ('RobotHardware0.qandel.qCurrent', 'are already connected') [hrpsys.py] activating components [hrpsys.py] Fail to find instance (['rmfo', 'RemoveForceSensorLinkOffset']) for getRTCInstanceList seqis already serialized [ INFO] [1432629405.271734024]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 27Hz shis already serialized fkis already serialized icis already serialized elis already serialized scis already serialized logis already serialized [ INFO] [1432629406.273396468]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [hrpsys.py] setup logger [ INFO] [1432629407.290609795]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 45Hz [ INFO] [1432629408.308106731]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [hrpsys.py] setupLogger : q arleady exists in DataLogger [ INFO] [1432629409.318065370]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 33Hz ('RobotHardware0.qandlog.RobotHardware0_q', 'are already connected') [ INFO] [1432629410.326225586]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 38Hz [ INFO] [1432629411.810674342]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 18Hz [ INFO] [1432629412.907779418]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 5Hz [ INFO] [1432629413.923334337]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 22Hz [ INFO] [1432629414.930390568]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 32Hz [ INFO] [1432629415.941035895]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 22Hz [hrpsys.py] setupLogger : dq arleady exists in DataLogger [ INFO] [1432629417.061688129]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 3Hz ('RobotHardware0.dqandlog.RobotHardware0_dq', 'are already connected') [ INFO] [1432629418.341192522]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 6Hz [ INFO] [1432629420.454466352]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 18Hz [hrpsys.py] setupLogger : tau arleady exists in DataLogger ('RobotHardware0.tauandlog.RobotHardware0_tau', 'are already connected') [hrpsys.py] sensor names for DataLogger [ INFO] [1432629421.463902269]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz [ INFO] [1432629422.473249070]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 38Hz [ INFO] [1432629423.497266450]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 48Hz [ INFO] [1432629424.614365427]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 39Hz [ INFO] [1432629425.632674184]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629426.639240584]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz [hrpsys.py] setupLogger : qRef arleady exists in DataLogger ('seq.qRefandlog.seq_qRef', 'are already connected') [ INFO] [1432629427.654614888]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 38Hz [hrpsys.py] setupLogger : qOut arleady exists in DataLogger ('sh.qOutandlog.sh_qOut', 'are already connected') [ INFO] [1432629428.675189578]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 36Hz [ INFO] [1432629429.679181645]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 32Hz [hrpsys.py] setupLogger : tqOut arleady exists in DataLogger ('sh.tqOutandlog.sh_tqOut', 'are already connected') [ INFO] [1432629430.702737636]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 45Hz [hrpsys.py] setupLogger : basePosOut arleady exists in DataLogger ('sh.basePosOutandlog.sh_basePosOut', 'are already connected') [ INFO] [1432629431.728752094]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [ INFO] [1432629432.737110272]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629433.785488136]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [hrpsys.py] setupLogger : baseRpyOut arleady exists in DataLogger ('sh.baseRpyOutandlog.sh_baseRpyOut', 'are already connected') [ INFO] [1432629434.807105944]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629437.125269804]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 41Hz [hrpsys.py] setupLogger : zmpOut arleady exists in DataLogger ('sh.zmpOutandlog.sh_zmpOut', 'are already connected') [ INFO] [1432629438.137539278]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629439.169925162]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 36Hz [hrpsys.py] setupLogger : emergencySignal arleady exists in DataLogger ('RobotHardware0.emergencySignalandlog.emergencySignal', 'are already connected') [ INFO] [1432629440.175539002]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 43Hz [ INFO] [1432629441.223828105]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 33Hz [ INFO] [1432629442.242956565]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 40Hz [hrpsys.py] setupLogger : servoState arleady exists in DataLogger ('RobotHardware0.servoStateandlog.RobotHardware0_servoState', 'are already connected') [hrpsys.py] setup joint groups [hrpsys.py] initialized successfully [ INFO] [1432629443.245562038]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 51Hz [ INFO] [1432629444.253917740]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 42Hz [INFO] [WallTime: 1432629444.636129] Joint names; Torso: ['CHEST_JOINT0'] Head: ['HEAD_JOINT0', 'HEAD_JOINT1'] L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] [ INFO] [1432629444.658719530]: Loading robot model 'NextageOpen'... [ INFO] [1432629445.281298675]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [ INFO] [1432629446.838100266]: Ready to take MoveGroup commands for group left_arm. [ INFO] [1432629447.180263988]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1432629447.530947484]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [hrpsys_py-2] process has finished cleanly log file: /home/marsryu/.ros/log/3fb3e506-0382-11e5-ab2b-100ba90b744c/hrpsys_py-2.log [ INFO] [1432629449.207699386]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 3Hz [ INFO] [1432629450.221088113]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 18Hz [ INFO] [1432629451.246591691]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 17Hz [ INFO] [1432629452.261177453]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 23Hz [ INFO] [1432629453.308979928]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 51Hz [ INFO] [1432629454.311166475]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 33Hz [ INFO] [1432629455.345678919]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629456.377025609]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629457.407597057]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 18Hz [ INFO] [1432629458.407878666]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 22Hz [ INFO] [1432629459.683009946]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [ INFO] [1432629460.708280414]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 6Hz [ INFO] [1432629461.738809463]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 14Hz [ INFO] [1432629462.750093444]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 21Hz [ INFO] [1432629463.756651193]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 27Hz [ INFO] [1432629464.763955323]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 22Hz [ INFO] [1432629465.795748949]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629466.834267932]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 27Hz [ INFO] [1432629467.838321160]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629468.878338534]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 24Hz [ INFO] [1432629469.938222145]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 20Hz [ INFO] [1432629470.982425864]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz [ INFO] [1432629471.992857042]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz [ INFO] [1432629473.064999063]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 32Hz [ INFO] [1432629474.066659431]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 41Hz [ INFO] [1432629475.069367460]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 38Hz [ INFO] [1432629476.093941349]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 23Hz [ INFO] [1432629477.123772687]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 32Hz [ INFO] [1432629478.142674597]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 41Hz [ INFO] [1432629479.206441792]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 36Hz [ INFO] [1432629480.224763452]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629481.244552373]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 36Hz [ INFO] [1432629482.251888895]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629483.255798533]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629484.590010383]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629485.711233848]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 4Hz [ INFO] [1432629486.797962125]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 16Hz [ INFO] [1432629487.817766885]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 15Hz [ INFO] [1432629488.424526583]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() [ INFO] [1432629488.424719086]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) [ INFO] [1432629488.424840900]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 16 [ INFO] [1432629488.424997186]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0 [ INFO] [1432629488.425063086]: [HrpsysJointTrajectoryBridge0] -0.0103323 -5.98399e-05 -1.74574 0.2659 0.165015 0.0563021 [ INFO] [1432629488.425248931]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0.326248 [ INFO] [1432629488.425357204]: [HrpsysJointTrajectoryBridge0] -0.0422807 -0.0785592 -1.73528 0.278627 0.222308 0.112508 [ INFO] [1432629488.425504134]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0.522497 [ INFO] [1432629488.425613812]: [HrpsysJointTrajectoryBridge0] -0.0742291 -0.157059 -1.72483 0.291355 0.279601 0.168715 [ INFO] [1432629488.425742841]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0.718745 [ INFO] [1432629488.425808728]: [HrpsysJointTrajectoryBridge0] -0.106178 -0.235558 -1.71437 0.304083 0.336893 0.224921 [ INFO] [1432629488.425905131]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0.914993 [ INFO] [1432629488.425961232]: [HrpsysJointTrajectoryBridge0] -0.138126 -0.314057 -1.70392 0.316811 0.394186 0.281127 [ INFO] [1432629488.426047379]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1.11124 [ INFO] [1432629488.426110590]: [HrpsysJointTrajectoryBridge0] -0.170074 -0.392557 -1.69346 0.329538 0.451479 0.337334 [ INFO] [1432629488.426195661]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1.30749 [ INFO] [1432629488.426270826]: [HrpsysJointTrajectoryBridge0] -0.202023 -0.471056 -1.68301 0.342266 0.508771 0.39354 [ INFO] [1432629488.426375162]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1.50374 [ INFO] [1432629488.426429934]: [HrpsysJointTrajectoryBridge0] -0.233971 -0.549555 -1.67255 0.354994 0.566064 0.449746 [ INFO] [1432629488.426512676]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1.69999 [ INFO] [1432629488.426563183]: [HrpsysJointTrajectoryBridge0] -0.265919 -0.628055 -1.6621 0.367722 0.623357 0.505953 [ INFO] [1432629488.426656284]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1.89624 [ INFO] [1432629488.426720226]: [HrpsysJointTrajectoryBridge0] -0.297868 -0.706554 -1.65164 0.380449 0.680649 0.562159 [ INFO] [1432629488.426814051]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 2.09248 [ INFO] [1432629488.426873311]: [HrpsysJointTrajectoryBridge0] -0.329816 -0.785053 -1.64119 0.393177 0.737942 0.618365 [ INFO] [1432629488.426962656]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 2.28873 [ INFO] [1432629488.427014600]: [HrpsysJointTrajectoryBridge0] -0.361765 -0.863553 -1.63073 0.405905 0.795235 0.674572 [ INFO] [1432629488.427096403]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 2.48498 [ INFO] [1432629488.427150570]: [HrpsysJointTrajectoryBridge0] -0.393713 -0.942052 -1.62028 0.418632 0.852527 0.730778 [ INFO] [1432629488.427234652]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 2.68123 [ INFO] [1432629488.427289118]: [HrpsysJointTrajectoryBridge0] -0.425661 -1.02055 -1.60982 0.43136 0.90982 0.786984 [ INFO] [1432629488.427374395]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 2.87748 [ INFO] [1432629488.427429168]: [HrpsysJointTrajectoryBridge0] -0.45761 -1.09905 -1.59937 0.444088 0.967113 0.843191 [ INFO] [1432629488.427514862]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 3.20373 [ INFO] [1432629488.427605936]: [HrpsysJointTrajectoryBridge0] -0.489558 -1.17755 -1.58891 0.456816 1.02441 0.899397 [ INFO] [1432629488.427677727]: [HrpsysJointTrajectoryBridge0] playPatternGroup: rarm omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [ INFO] [1432629489.268876075]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 5Hz [ INFO] [1432629490.420685606]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 6Hz [ INFO] [1432629491.486963036]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 10Hz [ INFO] [1432629492.581376248]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 9Hz [ INFO] [1432629493.647438036]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 10Hz [ INFO] [1432629494.662791794]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 23Hz [ INFO] [1432629495.699658420]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 38Hz [ INFO] [1432629496.729638873]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 26Hz [ INFO] [1432629497.741478756]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [ INFO] [1432629498.814456561]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 24Hz [ INFO] [1432629499.815519656]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 52Hz [ INFO] [1432629500.829853979]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 44Hz [ INFO] [1432629501.840233688]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 40Hz [ INFO] [1432629502.959245714]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629504.155672805]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 19Hz [ INFO] [1432629505.178852953]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [ INFO] [1432629506.196419678]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629507.208891612]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 51Hz [ INFO] [1432629508.223876260]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 47Hz [ INFO] [1432629509.263712591]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 37Hz [ INFO] [1432629510.290715041]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 31Hz [ INFO] [1432629511.297697312]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 25Hz [ INFO] [1432629512.407081044]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 12Hz [ INFO] [1432629513.410428635]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 34Hz [ INFO] [1432629514.461267446]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 54Hz [ INFO] [1432629515.487329448]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629516.563269985]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 35Hz [ INFO] [1432629517.569357036]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 39Hz [ INFO] [1432629518.574349254]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629519.596321312]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 29Hz [ INFO] [1432629520.789483389]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 5Hz [ INFO] [1432629521.888293054]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 12Hz [ INFO] [1432629522.987969517]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 10Hz [ INFO] [1432629524.071234273]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [ INFO] [1432629525.188159118]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 9Hz [ INFO] [1432629526.339109922]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 19Hz [ INFO] [1432629527.387549060]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz [ INFO] [1432629528.393581243]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 32Hz [ INFO] [1432629529.396591323]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 40Hz [ INFO] [1432629530.419436612]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 37Hz [ INFO] [1432629531.476221944]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 19Hz [ INFO] [1432629532.495283155]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 28Hz [ INFO] [1432629533.496865742]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 37Hz [ INFO] [1432629534.503155244]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 44Hz [ INFO] [1432629536.794466091]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 23Hz [ INFO] [1432629537.815899946]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 24Hz [ INFO] [1432629538.856103813]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 37Hz [ INFO] [1432629539.888660543]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 19Hz [ INFO] [1432629540.908489586]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 31Hz [ INFO] [1432629542.009880242]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 20Hz [ INFO] [1432629543.045783971]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 15Hz [ INFO] [1432629544.108793222]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 12Hz [ INFO] [1432629545.117343183]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 13Hz [ INFO] [1432629546.128711293]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 17Hz [ INFO] [1432629547.218080591]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 30Hz ^C[ INFO] [1432629548.253451830]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 27Hz [rtmlaunch_collision_detector-19] killing on exit [CollisionDetectorComp-18] killing on exit [base_footprint_rootlink-17] killing on exit [robot_pose_ekf-16] killing on exit [RobotHardwareServiceROSBridge-15] killing on exit [StateHolderServiceROSBridge-14] killing on exit [DataLoggerServiceROSBridge-12] killing on exit [SequencePlayerServiceROSBridge-11] killing on exit [ForwardKinematicsServiceROSBridge-13] killing on exit [rtmlaunch_hrpsys_ros_bridge-10] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... omniORB: Caught an unexpected Python exception during up-call. [hrpsys_profile-8] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... omniORB: Caught an unexpected Python exception during up-call. Exception AttributeError: "objref_PortService instance has no attribute 'Objectrelease'" in <bound method _objref_PortService.del of > ignored [diagnostic_aggregator-7] killing on exit [hrpsys_ros_diagnostics-6] killing on exit [hrpsys_state_publisher-5] killing on exit state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutex_t): Assertion `!pthread_mutex_lock(m)' failed. [HrpsysSeqStateROSBridge-3] killing on exit [HrpsysJointTrajectoryBridge-4] killing on exit [ INFO] [1432629548.797202487]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm [ INFO] [1432629548.801347322]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 [ INFO] [1432629548.812601196]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm [ INFO] [1432629548.833798003]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head [ INFO] [1432629548.874862443]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso [ INFO] [1432629548.930573468]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso [ INFO] [1432629548.966004101]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
python nextage_moveit_sample.py
ript$ python nextage_moveit_sample.py [ INFO] [1432629484.569131688]: Loading robot model 'NextageOpen'... ========== Robot Groups: ['left_arm', 'right_arm'] ========== Printing robot state joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: /WAIST name: ['CHEST_JOINT0', 'HEAD_JOINT0', 'HEAD_JOINT1', 'LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5', 'RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] position: [0.0, 0.0, 0.0, 0.010821041362364843, 0.00012715970264530116, -1.7453467052868494, -0.2647210887446559, 0.16288830659628328, -0.056598896716926576, -0.010332349171806431, -6.731984257692414e-05, -1.7457394043685481, 0.2658997578440397, 0.16501542662215138, 0.056302089271456614] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: /WAIST joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False ========== [] [ INFO] [1432629486.733239829]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1432629486.976911439]: Ready to take MoveGroup commands for group left_arm. =============== Right arm =============== ========== Reference frame: /WAIST ========== Reference frame: RARM_JOINT5_Link =============== Left ight arm =============== ========== Reference frame: /WAIST ========== Reference frame: LARM_JOINT5_Link ========== Printing Right Hand initial pose: position: x: 0.32557466992 y: -0.18239399595 z: 0.0676985711073 orientation: x: 4.34448376752e-05 y: -0.707556688151 z: 0.000348557253057 w: 0.706656500482 ========== Printing Left Hand initial pose: position: x: 0.325556524492 y: 0.182431716648 z: 0.0676662591281 orientation: x: -0.000473123916785 y: -0.708087381263 z: -3.77361922096e-05 w: 0.706124659834 ========== plan1 ... [ INFO] [1432629492.589286292]: ABORTED: Timeout reached ========== plan2 ... [ INFO] [1432629498.502715261]: ABORTED: Timeout reached ========== plan3... [ INFO] [1432629504.998800322]: ABORTED: Timeout reached ^C========== Initial pose ...
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130s
実機にてプログラムを実行しようとしたところ，move itのpythonプログラム側のデバッグメッセージにABORTED: Timeout reachedと出ていて実機が動作しませんでした．以下に動かしたプログラムとその時のデバッグメッセージを冗長ですが添付します.
roslaunch nextage_moveit_config moveit_planning_execution.launchroslaunch nextage_ros_bridge nextage_ros_bridge_real.launchpython nextage_moveit_sample.py