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tork-a / rtmros_nextage

ROS-OpenRTM-based opensource robot controller software for dual-armed robot Nextage from Kawada Industries
http://wiki.ros.org/rtmros_nextage
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Robot state out of sync with Moveit! #234

Closed JKBehrens closed 8 years ago

JKBehrens commented 8 years ago

Hello,

I try to control a real KaWaDa Nextage Open Robot via Moveit!. Therefore, I start the rosbridge with

roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch nameserver:=nextage

which gives me the following output:

nxouser@nxconsole:/opt/ros/hydro/share/nextage_ros_bridge$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch nameserver:=nextage ... logging to /home/nxouser/.ros/log/af4b6fb4-e140-11e5-ae15-000bab77d794/roslaunch-nxconsole-13395.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://nxconsole:58263/

SUMMARY

PARAMETERS

  • /collision_state/comp_name
  • /controller_configuration
  • /diagnostic_aggregator/analyzers/computers/contains
  • /diagnostic_aggregator/analyzers/computers/path
  • /diagnostic_aggregator/analyzers/computers/type
  • /diagnostic_aggregator/analyzers/hrpsys/contains
  • /diagnostic_aggregator/analyzers/hrpsys/path
  • /diagnostic_aggregator/analyzers/hrpsys/type
  • /diagnostic_aggregator/analyzers/mode/contains
  • /diagnostic_aggregator/analyzers/mode/path
  • /diagnostic_aggregator/analyzers/mode/type
  • /diagnostic_aggregator/analyzers/motor/contains
  • /diagnostic_aggregator/analyzers/motor/path
  • /diagnostic_aggregator/analyzers/motor/type
  • /diagnostic_aggregator/base_path
  • /diagnostic_aggregator/pub_rate
  • /robot_description
  • /robot_pose_ekf/debug
  • /robot_pose_ekf/freq
  • /robot_pose_ekf/imu_used
  • /robot_pose_ekf/odom_used
  • /robot_pose_ekf/output_frame
  • /robot_pose_ekf/self_diagnose
  • /robot_pose_ekf/sensor_timeout
  • /robot_pose_ekf/vo_used
  • /rosdistro
  • /rosversion

NODES / CollisionDetectorComp (hrpsys/CollisionDetectorComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) 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) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [13409] ROS_MASTER_URI=http://localhost:11311

setting /run_id to af4b6fb4-e140-11e5-ae15-000bab77d794 process[rosout-1]: started with pid [13422] started core service [/rosout] process[HrpsysSeqStateROSBridge-2]: started with pid [13434] process[HrpsysJointTrajectoryBridge-3]: started with pid [13449] process[hrpsys_state_publisher-4]: started with pid [13473] process[hrpsys_ros_diagnostics-5]: started with pid [13489] process[diagnostic_aggregator-6]: started with pid [13492] duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457010364.504328861]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[hrpsys_profile-7]: started with pid [13511] process[sensor_ros_bridge_connect-8]: started with pid [13514] process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [13552] process[SequencePlayerServiceROSBridge-10]: started with pid [13575] process[DataLoggerServiceROSBridge-11]: started with pid [13602] [sensor_ros_bridge_connect.py] start configuration ORB with nextage : 15005 the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' process[ForwardKinematicsServiceROSBridge-12]: started with pid [13662] [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation process[StateHolderServiceROSBridge-13]: started with pid [13692] process[RobotHardwareServiceROSBridge-14]: started with pid [13726] process[robot_pose_ekf-15]: started with pid [13749] [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 process[base_footprint_rootlink-16]: started with pid [13810] process[CollisionDetectorComp-17]: started with pid [13821] process[rtmlaunch_collision_detector-18]: started with pid [13822] process[collision_state-19]: started with pid [13825] [ INFO] [1457010364.918511243]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457010365.008963729]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1457010365.011445150]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations configuration ORB with nextage : 15005 [INFO] [WallTime: 1457010365.246515] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in <bound method RTCTree.del of <rtctree.tree.RTCTree object at 0x1a06d10>> ignored [ERROR] [WallTime: 1457010365.260567] [collision_state.py] catch exception, restart rtc_init. Make sure collision_pair is set in .conf file. See https://github.com/start-jsk/rtmros_common/issues/247 Original exception: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Activate <- Inactive /nextage:15005/CollisionDetector0.rtc prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 check collisions between RARM_JOINT2 and LARM_JOINT2 check collisions between RARM_JOINT3 and LARM_JOINT3 check collisions between RARM_JOINT4 and LARM_JOINT4 check collisions between RARM_JOINT5 and LARM_JOINT5 [sensor_ros_bridge_connect.py] wait for RTCmanager : nextage [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x309bd40> (timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x309bd40> isActive? = False [sensor_ros_bridge_connect.py] simulation_mode : False [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] hrpsys_ros_bridge.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:tau [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in <bound method RTCTree.del of <rtctree.tree.RTCTree object at 0x16c0590>> ignored [rtmlaunch] hrpsys_ros_bridge.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 0 /30 configuration ORB with nextage : 15005 [INFO] [WallTime: 1457010367.265575] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x309cb90> [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect-8] process has finished cleanly log file: /home/nxouser/.ros/log/af4b6fb4-e140-11e5-ae15-000bab77d794/sensor_ros_bridgeconnect-8.log [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 1 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 2 /30 [INFO] [WallTime: 1457010370.278692] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 3 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 4 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 5 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 6 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 7 /30 [INFO] [WallTime: 1457010375.278934] check 0 collision status, 0.000000 Hz [rtmlaunch] check connection/activation [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 8 /30 [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in <bound method RTCTree.del of <rtctree.tree.RTCTree object at 0x1ba4750>> ignored [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations ^C[collision_state-19] killing on exit [rtmlaunch_collision_detector-18] killing on exit [CollisionDetectorComp-17] killing on exit [base_footprint_rootlink-16] killing on exit [robot_pose_ekf-15] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [StateHolderServiceROSBridge-13] killing on exit [ForwardKinematicsServiceROSBridge-12] killing on exit [DataLoggerServiceROSBridge-11] killing on exit [RobotHardwareServiceROSBridge-14] killing on exit [SequencePlayerServiceROSBridge-10] killing on exit [rtmlaunch_hrpsys_ros_bridge-9] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in <bound method RTCTree.del of <rtctree.tree.RTCTree object at 0x16c0590>> ignored Exception AttributeError: "'RTCTree' object has no attribute '_orb_is_mine'" in <bound method RTCTree.del of <rtctree.tree.RTCTree object at 0x1893110>> ignored [hrpsys_profile-7] killing on exit [diagnostic_aggregator-6] killing on exit [hrpsys_ros_diagnostics-5] killing on exit [hrpsys_state_publisher-4] killing on exit [HrpsysJointTrajectoryBridge-3] killing on exit [HrpsysSeqStateROSBridge-2] killing on exit [ INFO] [1457010376.708156626]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutext): Assertion `!pthread_mutex_lock(m)' failed. [CollisionDetectorComp-17] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

In this state, I am able to operate the robot via python with e.g.

robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dx=0.05, dz=0.05, tm=5)

Anyhow, when I start Moveit! with

roslaunch nextage_moveit_config moveit_planning_execution.launch

it comes up with the normal Nextage model, which is not coherent with the state of the real robot. Because the robotmodel is initialized in a collision state, no planner finds a valid plan. Anyhow, the following output is given:

nxouser@nxconsole:/opt/ros/hydro/share/nextage_ros_bridge$ roslaunch nextage_moveit_config moveit_planning_execution.launch ... logging to /home/nxouser/.ros/log/a4e359d2-e141-11e5-b29f-000bab77d794/roslaunch-nxconsole-14788.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://nxconsole:54382/

SUMMARY

PARAMETERS

  • /move_group/allow_trajectory_execution
  • /move_group/capabilities
  • /move_group/controller_list
  • /move_group/controller_manager_name
  • /move_group/controller_manager_ns
  • /move_group/jiggle_fraction
  • /move_group/left_arm/kinematics_solver
  • /move_group/left_arm/kinematics_solver_attempts
  • /move_group/left_arm/kinematics_solver_search_resolution
  • /move_group/left_arm/kinematics_solver_timeout
  • /move_group/left_arm/longest_valid_segment_fraction
  • /move_group/left_arm/planner_configs
  • /move_group/left_arm/projection_evaluator
  • /move_group/max_safe_path_cost
  • /move_group/moveit_controller_manager
  • /move_group/moveit_manage_controllers
  • /move_group/planner_configs/BKPIECEkConfigDefault/type
  • /move_group/planner_configs/ESTkConfigDefault/type
  • /move_group/planner_configs/KPIECEkConfigDefault/type
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type
  • /move_group/planner_configs/PRMkConfigDefault/type
  • /move_group/planner_configs/PRMstarkConfigDefault/type
  • /move_group/planner_configs/RRTConnectkConfigDefault/type
  • /move_group/planner_configs/RRTkConfigDefault/type
  • /move_group/planner_configs/RRTstarkConfigDefault/type
  • /move_group/planner_configs/SBLkConfigDefault/type
  • /move_group/planner_configs/TRRTkConfigDefault/type
  • /move_group/planning_plugin
  • /move_group/planning_scene_monitor/publish_geometry_updates
  • /move_group/planning_scene_monitor/publish_planning_scene
  • /move_group/planning_scene_monitor/publish_state_updates
  • /move_group/planning_scene_monitor/publish_transforms_updates
  • /move_group/request_adapters
  • /move_group/right_arm/kinematics_solver
  • /move_group/right_arm/kinematics_solver_attempts
  • /move_group/right_arm/kinematics_solver_search_resolution
  • /move_group/right_arm/kinematics_solver_timeout
  • /move_group/right_arm/longest_valid_segment_fraction
  • /move_group/right_arm/planner_configs
  • /move_group/right_arm/projection_evaluator
  • /move_group/start_state_max_bounds_error
  • /move_group/use_controller_manager
  • /robot_description
  • /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity
  • /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity
  • /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity
  • /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity
  • /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity
  • /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits
  • /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits
  • /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration
  • /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity
  • /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits
  • /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits
  • /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
  • /robot_description_semantic
  • /rosdistro
  • /rosversion
  • /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver
  • /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_attempts
  • /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_search_resolution
  • /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_timeout
  • /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver
  • /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_attempts
  • /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_search_resolution
  • /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_timeout

NODES / move_group (moveit_ros_move_group/move_group) rviz_nxconsole_14788_2607067177528599454 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[move_group-1]: started with pid [14806] process[rviz_nxconsole_14788_2607067177528599454-2]: started with pid [14810] [ERROR] [1457010788.643779998]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010788.643832815]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010788.643979610]: Loading robot model 'NextageOpen'... [ INFO] [1457010788.711897642]: rviz version 1.10.18 [ INFO] [1457010788.711960848]: compiled against OGRE version 1.7.4 (Cthugha) [ERROR] [1457010789.027325251]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010789.027377324]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010789.027487365]: Loading robot model 'NextageOpen'... [ INFO] [1457010789.110403938]: Stereo is NOT SUPPORTED [ INFO] [1457010789.110487864]: OpenGl version: 4.2 (GLSL 4.2). [ WARN] [1457010789.221319989]: 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. [ERROR] [1457010789.225769181]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010789.225804662]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010789.225895983]: Loading robot model 'NextageOpen'... [ WARN] [1457010789.421944526]: 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] [1457010789.482023377]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1457010789.484401996]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1457010789.484444653]: Starting scene monitor [ INFO] [1457010789.484973183]: Listening to '/planning_scene' [ INFO] [1457010789.485009072]: Starting world geometry monitor [ INFO] [1457010789.485523814]: Listening to '/collision_object' using message notifier with target frame '/WAIST ' [ INFO] [1457010789.486030426]: Listening to '/planning_scene_world' for planning scene world geometry [ WARN] [1457010789.486436144]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ INFO] [1457010789.534627595]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1457010789.593542390]: Initializing OMPL interface using ROS parameters [ INFO] [1457010789.615496473]: Using planning interface 'OMPL' [ INFO] [1457010789.661064977]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1457010789.661555113]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1457010789.662026448]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1457010789.662474984]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1457010789.662831997]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1457010789.663234532]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1457010789.663273453]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1457010789.663310770]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1457010789.663322307]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1457010789.663334821]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1457010789.663347542]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1457010789.720722971]: Trajectory execution is managing controllers Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1457010789.828378626]:

  • MoveGroup using:
    • CartesianPathService
    • ExecutePathService
    • GetPlanningSceneService
    • KinematicsService
    • MoveAction
    • PickPlaceAction
    • MotionPlanService
    • QueryPlannersService
    • StateValidationService

[ INFO] [1457010789.828462976]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1457010789.828491453]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ERROR] [1457010793.337713463]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.337765372]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.337969772]: Loading robot model 'NextageOpen'... [ERROR] [1457010793.662387276]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.662423817]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.662523418]: Loading robot model 'NextageOpen'... [ WARN] [1457010793.858486298]: 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. [ERROR] [1457010793.863766110]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.863796723]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.863905588]: Loading robot model 'NextageOpen'... [ WARN] [1457010794.064358538]: 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] [1457010794.156102536]: Starting scene monitor [ INFO] [1457010794.158390905]: Listening to '/move_group/monitored_planning_scene' [ WARN] [1457010794.162886914]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'NO_PARENT' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1457010794.163018948]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'NO_PARENT' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1457010794.751154375]: 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] [1457010794.751307824]: 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] [1457010794.756440088]: Constructing new MoveGroup connection for group 'right_arm' [ INFO] [1457010795.547280522]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1457010795.547486131]: Looking around: no [ INFO] [1457010795.547612602]: Replanning: no

In the RViz user interface it is stated that Global Status: ERROR and that the Fixed Frame [Waist] does not exist

Routing down the problem:

BUT: Checking the Rosbridge reveals the following:

[rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 29 /30 and [ WARN] [1457012235.568578397]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

I suspect that the StateHolderService inside the QNX-PC is somehow not connected or running properly. Since I am able to read the joint states from the python terminal (which seems to directly use a hrpsys interface), the problem has to be inside the ros bridge. Somehow the mapping onto the the right topics fails when working with the real robot.

Thank you for your help! JK

k-okada commented 8 years ago

can you ping nextage?

◉ Kei Okada

On Thu, Mar 3, 2016 at 10:54 PM, Jan Behrens notifications@github.com wrote:

Hello,

I try to control a real KaWaDa Nextage Open Robot via Moveit!. Therefore, I start the rosbridge with

roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch nameserver:=nextage

which gives me the following output:

nxouser@nxconsole:/opt/ros/hydro/share/nextage_ros_bridge$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch nameserver:=nextage ... logging to /home/nxouser/.ros/log/af4b6fb4-e140-11e5-ae15-000bab77d794/roslaunch-nxconsole-13395.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://nxconsole:58263/ SUMMARY

PARAMETERS

  • /collision_state/comp_name
  • /controller_configuration
  • /diagnostic_aggregator/analyzers/computers/contains
  • /diagnostic_aggregator/analyzers/computers/path
  • /diagnostic_aggregator/analyzers/computers/type
  • /diagnostic_aggregator/analyzers/hrpsys/contains
  • /diagnostic_aggregator/analyzers/hrpsys/path
  • /diagnostic_aggregator/analyzers/hrpsys/type
  • /diagnostic_aggregator/analyzers/mode/contains
  • /diagnostic_aggregator/analyzers/mode/path
  • /diagnostic_aggregator/analyzers/mode/type
  • /diagnostic_aggregator/analyzers/motor/contains
  • /diagnostic_aggregator/analyzers/motor/path
  • /diagnostic_aggregator/analyzers/motor/type
  • /diagnostic_aggregator/base_path
  • /diagnostic_aggregator/pub_rate
  • /robot_description
  • /robot_pose_ekf/debug
  • /robot_pose_ekf/freq
  • /robot_pose_ekf/imu_used
  • /robot_pose_ekf/odom_used
  • /robot_pose_ekf/output_frame
  • /robot_pose_ekf/self_diagnose
  • /robot_pose_ekf/sensor_timeout
  • /robot_pose_ekf/vo_used
  • /rosdistro
  • /rosversion

NODES / CollisionDetectorComp (hrpsys/CollisionDetectorComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) 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) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [13409] ROS_MASTER_URI=http://localhost:11311

setting /run_id to af4b6fb4-e140-11e5-ae15-000bab77d794 process[rosout-1]: started with pid [13422] started core service [/rosout] process[HrpsysSeqStateROSBridge-2]: started with pid [13434] process[HrpsysJointTrajectoryBridge-3]: started with pid [13449] process[hrpsys_state_publisher-4]: started with pid [13473] process[hrpsys_ros_diagnostics-5]: started with pid [13489] process[diagnostic_aggregator-6]: started with pid [13492] duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457010364.504328861]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[hrpsys_profile-7]: started with pid [13511] process[sensor_ros_bridge_connect-8]: started with pid [13514] process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [13552] process[SequencePlayerServiceROSBridge-10]: started with pid [13575] process[DataLoggerServiceROSBridge-11]: started with pid [13602] [sensor_ros_bridge_connect.py] start configuration ORB with nextage : 15005 the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' process[ForwardKinematicsServiceROSBridge-12]: started with pid [13662] [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation process[StateHolderServiceROSBridge-13]: started with pid [13692] process[RobotHardwareServiceROSBridge-14]: started with pid [13726] process[robot_pose_ekf-15]: started with pid [13749] [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 process[base_footprint_rootlink-16]: started with pid [13810] process[CollisionDetectorComp-17]: started with pid [13821] process[rtmlaunch_collision_detector-18]: started with pid [13822] process[collision_state-19]: started with pid [13825] [ INFO] [1457010364.918511243]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457010365.008963729]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1457010365.011445150]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations configuration ORB with nextage : 15005 [INFO] [WallTime: 1457010365.246515] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in > ignored [ERROR] [WallTime: 1457010365.260567] [collision_state.py] catch exception, restart rtc_init. Make sure collision_pair is set in .conf file. See start-jsk/rtmros_common#247 https://github.com/start-jsk/rtmros_common/issues/247 Original exception: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Activate <- Inactive /nextage:15005/CollisionDetector0.rtc prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 check collisions between RARM_JOINT2 and LARM_JOINT2 check collisions between RARM_JOINT3 and LARM_JOINT3 check collisions between RARM_JOINT4 and LARM_JOINT4 check collisions between RARM_JOINT5 and LARM_JOINT5 [sensor_ros_bridge_connect.py] wait for RTCmanager : nextage [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [sensor_ros_bridge_connect.py] wait for RobotHardware0 : (timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : isActive? = False [sensor_ros_bridge_connect.py] simulation_mode : False [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] hrpsys_ros_bridge.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:tau [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in > ignored [rtmlaunch] hrpsys_ros_bridge.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 0 /30 configuration ORB with nextage : 15005 [INFO] [WallTime: 1457010367.265575] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect-8] process has finished cleanly log file: /home/nxouser/.ros/log/af4b6fb4-e140-11e5-ae15-000bab77d794/sensor_ros_bridge_connect-8

_.log [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 1 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 2 /30 [INFO] [WallTime: 1457010370.278692] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 3 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 4 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 5 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 6 /30 [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 7 /30 [INFO] [WallTime: 1457010375.278934] check 0 collision status, 0.000000 Hz [rtmlaunch] check connection/activation [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 8 /30 [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in > ignored [rtmlaunch] collision_detector.launch did not work on both OpenRTM 1.0.0 and 1.1.0 [rtmlaunch] OpenRTM 1.0.0 Failed to make connection: Bad parameter [rtmlaunch] OpenRTM 1.1.0 connect_ports() takes at most 3 arguments (6 given) [rtmlaunch] This is very weird situation, Please check your network [rtmlaunch] configuration with ifconfig on both robot and client side. [rtmlaunch] Having multiple network interface sometimes causes problem, [rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d [rtmlaunch] Issue related to this start-jsk/rtmros_hironx#33 https://github.com/start-jsk/rtmros_hironx/issues/33 [rtmlaunch] ~/.ros/log may contains usefully informations ^C[collision_state-19] killing on exit [rtmlaunch_collision_detector-18] killing on exit [CollisionDetectorComp-17] killing on exit [base_footprint_rootlink-16] killing on exit [robot_pose_ekf-15] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [StateHolderServiceROSBridge-13] killing on exit [ForwardKinematicsServiceROSBridge-12] killing on exit [DataLoggerServiceROSBridge-11] killing on exit [RobotHardwareServiceROSBridge-14] killing on exit [SequencePlayerServiceROSBridge-10] killing on exit [rtmlaunch_hrpsys_ros_bridge-9] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... Exception omniORB.CORBA.OBJECT_NOT_EXIST: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) in > ignored Exception AttributeError: "'RTCTree' object has no attribute 'orb_is_mine'" in ignored [hrpsys_profile-7] killing on exit [diagnostic_aggregator-6] killing on exit [hrpsys_ros_diagnostics-5] killing on exit [hrpsys_state_publisher-4] killing on exit [HrpsysJointTrajectoryBridge-3] killing on exit [HrpsysSeqStateROSBridge-2] killing on exit [ INFO] [1457010376.708156626]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutext): Assertion `!pthread_mutex_lock(m)' failed. [CollisionDetectorComp-17] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

In this state, I am able to operate the robot via python with e.g.

robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dx=0.05, dz=0.05, tm=5)

Anyhow, when I start Moveit! with

roslaunch nextage_moveit_config moveit_planning_execution.launch

it comes up with the normal Nextage model, which is not coherent with the state of the real robot. Because the robotmodel is initialized in a collision state, no planner finds a valid plan. Anyhow, the following output is given:

nxouser@nxconsole:/opt/ros/hydro/share/nextage_ros_bridge$ roslaunch nextage_moveit_config moveit_planning_execution.launch ... logging to /home/nxouser/.ros/log/a4e359d2-e141-11e5-b29f-000bab77d794/roslaunch-nxconsole-14788.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://nxconsole:54382/ SUMMARY

PARAMETERS

  • /move_group/allow_trajectory_execution
  • /move_group/capabilities
  • /move_group/controller_list
  • /move_group/controller_manager_name
  • /move_group/controller_manager_ns
  • /move_group/jiggle_fraction
  • /move_group/left_arm/kinematics_solver
  • /move_group/left_arm/kinematics_solver_attempts
  • /move_group/left_arm/kinematics_solver_search_resolution
  • /move_group/left_arm/kinematics_solver_timeout
  • /move_group/left_arm/longest_valid_segment_fraction
  • /move_group/left_arm/planner_configs
  • /move_group/left_arm/projection_evaluator
  • /move_group/max_safe_path_cost
  • /move_group/moveit_controller_manager
  • /move_group/moveit_manage_controllers
  • /move_group/planner_configs/BKPIECEkConfigDefault/type
  • /move_group/planner_configs/ESTkConfigDefault/type
  • /move_group/planner_configs/KPIECEkConfigDefault/type
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type
  • /move_group/planner_configs/PRMkConfigDefault/type
  • /move_group/planner_configs/PRMstarkConfigDefault/type
  • /move_group/planner_configs/RRTConnectkConfigDefault/type
  • /move_group/planner_configs/RRTkConfigDefault/type
  • /move_group/planner_configs/RRTstarkConfigDefault/type
  • /move_group/planner_configs/SBLkConfigDefault/type
  • /move_group/planner_configs/TRRTkConfigDefault/type
  • /move_group/planning_plugin
  • /move_group/planning_scene_monitor/publish_geometry_updates
  • /move_group/planning_scene_monitor/publish_planning_scene
  • /move_group/planning_scene_monitor/publish_state_updates
  • /move_group/planning_scene_monitor/publish_transforms_updates
  • /move_group/request_adapters
  • /move_group/right_arm/kinematics_solver
  • /move_group/right_arm/kinematics_solver_attempts
  • /move_group/right_arm/kinematics_solver_search_resolution
  • /move_group/right_arm/kinematics_solver_timeout
  • /move_group/right_arm/longest_valid_segment_fraction
  • /move_group/right_arm/planner_configs
  • /move_group/right_arm/projection_evaluator
  • /move_group/start_state_max_bounds_error
  • /move_group/use_controller_manager

  • /robot_description

    /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity

    /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity

    /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity

    /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity

    /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity

    /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits

    /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits

  • /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration

  • /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration

  • /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration

  • /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration

  • /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration

  • /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration

  • /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity

    /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits

    /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits

  • /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
  • /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
  • /robot_description_semantic
  • /rosdistro
  • /rosversion

  • /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver

    /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_attempts

    /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_search_resolution

    /rviz_nxconsole_14788_2607067177528599454/left_arm/kinematics_solver_timeout

  • /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver

    /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_attempts

    /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_search_resolution

    /rviz_nxconsole_14788_2607067177528599454/right_arm/kinematics_solver_timeout

NODES / move_group (moveit_ros_move_group/move_group) rviz_nxconsole_14788_2607067177528599454 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[move_group-1]: started with pid [14806] process[rviz_nxconsole_14788_2607067177528599454-2]: started with pid [14810] [ERROR] [1457010788.643779998]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010788.643832815]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010788.643979610]: Loading robot model 'NextageOpen'... [ INFO] [1457010788.711897642]: rviz version 1.10.18 [ INFO] [1457010788.711960848]: compiled against OGRE version 1.7.4 (Cthugha) [ERROR] [1457010789.027325251]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010789.027377324]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010789.027487365]: Loading robot model 'NextageOpen'... [ INFO] [1457010789.110403938]: Stereo is NOT SUPPORTED [ INFO] [1457010789.110487864]: OpenGl version: 4.2 (GLSL 4.2). [ WARN] [1457010789.221319989]: 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. [ERROR] [1457010789.225769181]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010789.225804662]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010789.225895983]: Loading robot model 'NextageOpen'... [ WARN] [1457010789.421944526]: 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] [1457010789.482023377]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1457010789.484401996]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1457010789.484444653]: Starting scene monitor [ INFO] [1457010789.484973183]: Listening to '/planning_scene' [ INFO] [1457010789.485009072]: Starting world geometry monitor [ INFO] [1457010789.485523814]: Listening to '/collision_object' using message notifier with target frame '/WAIST ' [ INFO] [1457010789.486030426]: Listening to '/planning_scene_world' for planning scene world geometry [ WARN] [1457010789.486436144]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ INFO] [1457010789.534627595]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1457010789.593542390]: Initializing OMPL interface using ROS parameters [ INFO] [1457010789.615496473]: Using planning interface 'OMPL' [ INFO] [1457010789.661064977]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1457010789.661555113]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1457010789.662026448]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1457010789.662474984]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1457010789.662831997]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1457010789.663234532]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1457010789.663273453]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1457010789.663310770]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1457010789.663322307]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1457010789.663334821]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1457010789.663347542]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1457010789.720722971]: Trajectory execution is managing controllers Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'...

[ INFO] [1457010789.828378626]:

  • MoveGroup using:
  • - CartesianPathService
  • - ExecutePathService
  • - GetPlanningSceneService
  • - KinematicsService
  • - MoveAction
  • - PickPlaceAction
  • - MotionPlanService
  • - QueryPlannersService
  • - StateValidationService

[ INFO] [1457010789.828462976]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1457010789.828491453]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ERROR] [1457010793.337713463]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.337765372]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.337969772]: Loading robot model 'NextageOpen'... [ERROR] [1457010793.662387276]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.662423817]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.662523418]: Loading robot model 'NextageOpen'... [ WARN] [1457010793.858486298]: 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. [ERROR] [1457010793.863766110]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known [ERROR] [1457010793.863796723]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known [ INFO] [1457010793.863905588]: Loading robot model 'NextageOpen'... [ WARN] [1457010794.064358538]: 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] [1457010794.156102536]: Starting scene monitor [ INFO] [1457010794.158390905]: Listening to '/move_group/monitored_planning_scene' [ WARN] [1457010794.162886914]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'NO_PARENT' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1457010794.163018948]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'NO_PARENT' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1457010794.751154375]: 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] [1457010794.751307824]: 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] [1457010794.756440088]: Constructing new MoveGroup connection for group 'right_arm' [ INFO] [1457010795.547280522]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1457010795.547486131]: Looking around: no [ INFO] [1457010795.547612602]: Replanning: no

In the RViz user interface it is stated that Global Status: ERROR and that the Fixed Frame [Waist] does not exist

Routing down the problem:

  • Checking rqt gives the insight that the tf-tree is noch build up properly
  • Checking the topic /joint_states shows that the topic is advertised but there are no send messages - Pinging the rosnode /HrpsysSeqStateROSBridge shows that it is alive

BUT: Checking the Rosbridge reveals the following:

[rtmlaunch] Wait for /nextage:15005/sh.rtc:StateHolderService 29 /30 and [ WARN] [1457012235.568578397]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]

I suspect that the StateHolderService inside the QNX-PC is somehow not connected or running properly. Since I am able to read the joint states from the python terminal (which seems to directly use a hrpsys interface), the problem has to be inside the ros bridge. Somehow the mapping onto the the right topics fails when working with the real robot.

Thank you for your help! JK

— Reply to this email directly or view it on GitHub https://github.com/tork-a/rtmros_nextage/issues/234.

JKBehrens commented 8 years ago

Hello k-okada,

yes, I am and I was able to ping the robot using either ping nextage or ping 192.168.128.10

Actually, we made some nice progress yesterday. Perhaps, someone can add more information to the rtmros_nextage tutorials to save time for future users.

What made a difference was to use eth0 network interface to connect to the robot. This was set up differently by the KaWaDa support. Also the configuration in /etc/network/interfaces was accordingly. We changed and rewired the setup here. My new /etc/network/interfaces is this:

`auto lo iface lo inet loopback

auto eth0 iface eth0 inet static network 192.168.128.0 address 192.168.128.50 netmask 255.255.255.0 broadcast 192.168.128.255`

This change solved some of the problems with the ROS Bridge startup. An Update of the nextage debian packages then solved the rest.

The much cleaner startup log looks like the following:

`nxouser@nxconsole:~$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch ... logging to /home/nxouser/.ros/log/d7b2ef4e-e1ff-11e5-9073-000bab77d794/roslaunch-nxconsole-5649.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://nxconsole:41219/

SUMMARY

PARAMETERS

NODES / CollisionDetectorComp (hrpsys/CollisionDetectorComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) 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) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_py (hironx_ros_bridge/hironx.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)

WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [5663] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d7b2ef4e-e1ff-11e5-9073-000bab77d794 process[rosout-1]: started with pid [5676] started core service [/rosout] process[hrpsys_py-2]: started with pid [5688] process[HrpsysSeqStateROSBridge-3]: started with pid [5689] process[HrpsysJointTrajectoryBridge-4]: started with pid [5718] process[hrpsys_state_publisher-5]: started with pid [5735] process[hrpsys_ros_diagnostics-6]: started with pid [5750] the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' process[diagnostic_aggregator-7]: started with pid [5755] duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457092466.271309998]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[hrpsys_profile-8]: started with pid [5779] process[sensor_ros_bridge_connect-9]: started with pid [5827] process[rtmlaunch_hrpsys_ros_bridge-10]: started with pid [5844] process[SequencePlayerServiceROSBridge-11]: started with pid [5850] configuration ORB with nextage:15005 process[DataLoggerServiceROSBridge-12]: started with pid [5874] process[ForwardKinematicsServiceROSBridge-13]: started with pid [5898] the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 process[StateHolderServiceROSBridge-14]: started with pid [5933] [sensor_ros_bridge_connect.py] start configuration ORB with nextage:15005 process[RobotHardwareServiceROSBridge-15]: started with pid [5954] process[robot_pose_ekf-16]: started with pid [5973] process[base_footprint_rootlink-17]: started with pid [6020] [ INFO] [1457092466.669567219]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 [rtmlaunch] check connection/activation process[CollisionDetectorComp-18]: started with pid [6050] process[rtmlaunch_collision_detector-19]: started with pid [6051] process[collision_state-20]: started with pid [6052] duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1457092466.779651792]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1457092466.783785240]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done ;; ;; Could not open /dev/console for writing. ;; open: Permission denied the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 check collisions between RARM_JOINT2 and LARM_JOINT2 check collisions between RARM_JOINT3 and LARM_JOINT3 check collisions between RARM_JOINT4 and LARM_JOINT4 check collisions between RARM_JOINT5 and LARM_JOINT5 the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [rtmlaunch] check connection/activation configuration ORB with nextage:15005 [WARN] [WallTime: 1457092467.226183] CollisionDetector(CollisionDetector0) is not activated, waiting... [rtmlaunch] Wait for /nextage:15005/CollisionDetector0.rtc:qCurrent 0 /30 [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x42e23b0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x42e23b0> isActive? = True [hrpsys.py] simulation_mode : False [hrpsys.py] Hrpsys controller version info: [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x42e20e0> [hrpsys.py] ref = <RTM._objref_Manager instance at 0x42e2320> [sensor_ros_bridge_connect.py] wait for RTCmanager : nextage [hrpsys.py] version = 315.2.8 [sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x2d60e60> ( timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x2d60e60> isActive? = True [sensor_ros_bridge_connect.py] simulation_mode : False [hrpsys.py] waiting ModelLoader [hrpsys.py] start hrpsys [hrpsys.py] finding RTCManager and RobotHardware [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /nextage:15005/CollisionDetector0.rtc [rtmlaunch] Wait for /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 [INFO] [WallTime: 1457092468.232226] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:q [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:tau [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x2d747e8> [rtmlaunch] Connected from nextage:15005/StateHolderServiceROSBridge.rtc:StateHolderService [rtmlaunch] to nextage:15005/sh.rtc:StateHolderService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/sh.rtc:baseTformOut [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:baseTform [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x42e23b0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x42e23b0> isActive? = True [rtmlaunch] Connected from nextage:15005/sh.rtc:qOut [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:mcangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService [rtmlaunch] to nextage:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService [rtmlaunch] to nextage:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [hrpsys.py] simulation_mode : False [hrpsys.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [rtmlaunch] Connected from nextage:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService [rtmlaunch] to nextage:15005/log.rtc:DataLoggerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [hrpsys.py] creating components [rtmlaunch] Connected from nextage:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService [rtmlaunch] to nextage:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") [rtmlaunch] Connected from nextage:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService [rtmlaunch] to nextage:15005/fk.rtc:ForwardKinematicsService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from nextage:15005/RobotHardwareServiceROSBridge.rtc:RobotHardwareService [rtmlaunch] to nextage:15005/RobotHardware0.rtc:RobotHardwareService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} RTC named "seq" already exists. [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x2c4d200> (315.2.8) [rtmlaunch] Connected from nextage:15005/RobotHardware0.rtc:servoState [rtmlaunch] to nextage:15005/HrpsysSeqStateROSBridge0.rtc:servoState [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /nextage:15005/HrpsysSeqStateROSBridge0.rtc [rtmlaunch] Activate <- Inactive /nextage:15005/HrpsysJointTrajectoryBridge0.rtc [rtmlaunch] Activate <- Inactive /nextage:15005/DataLoggerServiceROSBridge.rtc [ INFO] [1457092468.813760674]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz](exec 1 Hz, dropped 0) [rtmlaunch] Activate <- Inactive /nextage:15005/SequencePlayerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /nextage:15005/ForwardKinematicsServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /nextage:15005/StateHolderServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /nextage:15005/RobotHardwareServiceROSBridge.rtc [ INFO] [1457092468.816455045]: ADD_GROUP: larm (/larm_controller) [ INFO] [1457092468.816525704]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x42f5758> [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") RTC named "sh" already exists. [ INFO] [1457092468.862405904]: ADD_GROUP: rarm (/rarm_controller) [ INFO] [1457092468.862449217]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x2c40fc8> (315.2.8) [ INFO] [1457092468.884932008]: ADD_GROUP: head (/head_controller) [ INFO] [1457092468.884965194]: JOINT: HEAD_JOINT0 HEAD_JOINT1 [ INFO] [1457092468.904435862]: ADD_GROUP: torso (/torso_controller) [ INFO] [1457092468.904529443]: JOINT: CHEST_JOINT0 [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x4303098> [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") [ INFO] [1457092468.923556121]: ADD_GROUP: larm_torso (/larm_torso_controller) [ INFO] [1457092468.923612499]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0 RTC named "fk" already exists. [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x402bdd0> (315.2.8) [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x42ecef0> [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") [ INFO] [1457092468.944430192]: ADD_GROUP: rarm_torso (/rarm_torso_controller) [ INFO] [1457092468.944507983]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0 RTC named "ic" already exists. [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x3744758> (315.2.8) [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x42ecfc8> [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 : <hrpsys.rtm.RTcomponent instance at 0x4380ef0> (315.2.8) [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x42ec3f8> [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 : <hrpsys.rtm.RTcomponent instance at 0x42d9ea8> (315.2.8) [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x4380710> [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") RTC named "log" already exists. [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x42e2b48> (315.2.8) [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x43105a8> [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") [hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref' [hrpsys.py] connecting components [rtm.py] Connect sh.qOut - ic.qRef [rtm.py] Connect ic.q - el.qRef [rtm.py] Connect el.q - RobotHardware0.qRef [rtm.py] Connect RobotHardware0.servoState - el.servoStateIn [rtm.py] Connect RobotHardware0.q - sh.currentQIn [rtm.py] Connect RobotHardware0.q - fk.q [rtm.py] Connect sh.qOut - fk.qRef [rtm.py] Connect seq.qRef - sh.qIn [rtm.py] Connect seq.tqRef - sh.tqIn [rtm.py] Connect seq.basePos - sh.basePosIn [rtm.py] Connect seq.baseRpy - sh.baseRpyIn [rtm.py] Connect seq.zmpRef - sh.zmpIn [rtm.py] Connect seq.optionalData - sh.optionalDataIn [rtm.py] Connect sh.basePosOut - seq.basePosInit [rtm.py] Connect sh.basePosOut - fk.basePosRef [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef [rtm.py] Connect sh.qOut - seq.qInit [rtm.py] Connect sh.zmpOut - seq.zmpRefInit [rtm.py] Connect RobotHardware0.q - ic.qCurrent [rtm.py] Connect RobotHardware0.q - el.qCurrent [hrpsys.py] activating components [hrpsys.py] Fail to find instance (['rmfo', 'RemoveForceSensorLinkOffset']) for getRTCInstanceList seqis already serialized shis already serialized fkis already serialized icis already serialized elis already serialized scis already serialized logis already serialized [hrpsys.py] setup logger [hrpsys.py] setupLogger : q arleady exists in DataLogger [rtm.py] Connect RobotHardware0.q - log.RobotHardware0_q [hrpsys.py] setupLogger : dq arleady exists in DataLogger [rtm.py] Connect RobotHardware0.dq - log.RobotHardware0_dq [hrpsys.py] setupLogger : tau arleady exists in DataLogger [rtm.py] Connect RobotHardware0.tau - log.RobotHardware0_tau [hrpsys.py] sensor names for DataLogger [sensor_ros_bridge_connect.py] wait for 'sh' : <hrpsys.rtm.RTcomponent instance at 0x2d743f8> [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect-9] process has finished cleanly log file: /home/nxouser/.ros/log/d7b2ef4e-e1ff-11e5-9073-000bab77d794/sensor_ros_bridgeconnect-9.log [hrpsys.py] setupLogger : qOut arleady exists in DataLogger [ INFO] [1457092469.815548830]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 208[Hz](exec 1771 Hz, dropped 208) [rtm.py] Connect sh.qOut - log.sh_qOut [hrpsys.py] setupLogger : tqOut arleady exists in DataLogger [rtm.py] Connect sh.tqOut - log.sh_tqOut [hrpsys.py] setupLogger : basePosOut arleady exists in DataLogger [rtm.py] Connect sh.basePosOut - log.sh_basePosOut [hrpsys.py] setupLogger : baseRpyOut arleady exists in DataLogger [rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut [hrpsys.py] setupLogger : zmpOut arleady exists in DataLogger [rtm.py] Connect sh.zmpOut - log.sh_zmpOut [hrpsys.py] setupLogger : q arleady exists in DataLogger [rtm.py] Connect ic.q - log.ic_q [hrpsys.py] setupLogger : emergencySignal arleady exists in DataLogger [rtm.py] Connect RobotHardware0.emergencySignal - log.emergencySignal [hrpsys.py] setupLogger : servoState arleady exists in DataLogger [rtm.py] Connect RobotHardware0.servoState - log.RobotHardware0_servoState [hrpsys.py] setup joint groups [hrpsys.py] initialized successfully [ INFO] [1457092470.820488413]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz](exec 1775 Hz, dropped 201) [INFO] [WallTime: 1457092471.029166] Joint names; Torso: ['CHEST_JOINT0'] Head: ['HEAD_JOINT0', 'HEAD_JOINT1'] L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] [WARN] [WallTime: 1457092471.031876] Moveit is not started yet, if you want to use MoveIt! Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch) [hrpsys_py-2] process has finished cleanly log file: /home/nxouser/.ros/log/d7b2ef4e-e1ff-11e5-9073-000bab77d794/hrpsyspy-2.log [ INFO] [1457092471.821263439]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz](exec 1743 Hz, dropped 200) ^C[collision_state-20] killing on exit `

I next try to do the same setup under Ubuntu 14.04 and with ROS Indigo. If I have some more insights or questions, I will post them here or open a new issue.

Thank you so far. Jan

130s commented 8 years ago

@JKBehrens Glad to know you've made it working!

Though very much hidden, eth0 requirement has been documented. This time I also added a note at a more general instruction page.