Closed shzargar closed 7 years ago
shzargar
commented
7 years ago The above sequence is based on http://wiki.ros.org/rtmros_nextage/Tutorials/Operating%20Hiro%2C%20NEXTAGE%20OPEN.
In another tutorial (http://wiki.ros.org/rtmros_nextage/Tutorials/Run%20simulation), it is not mentioned to launch moveit (Rviz). I confirm that with or without moveit, python is not working for me.
130s
commented
7 years ago From your report only I can't tell what's going on. Could you share:
curl -sL https://raw.githubusercontent.com/start-jsk/rtmros_common/master/hrpsys_tools/scripts/rtmroswtf.sh | bash -(This fetches ~/.ros/log/latest folder so you need to run this right after you see the issue.)
~/.bashrc file content (if it's not desirable to share the entire file, post only what seems to be related to ROS and NEXTAGE).Particularly I'm concerned why the host Nxtag is related here (simulation by default tries to use localhost).
shzargar
commented
7 years ago Something which seems to be related to this issue, before all of above (specially the first two, rtmlaunch for hrpsys and roslaunch for moveit) I have to run export ROS_HOSTNAME=localhost, otherwise I get error message.
This is my entire ~/.bashrc which is located in usr/share/base-files.
534o
commented
7 years ago sorry for late, may you have wrong ROS environment variable or network settings, please provide output of rtmlaunch / roslaunch program, env | grep ROS, and cat /etc/hosts
beset
shzargar
commented
7 years ago Output of roslaunch
shzargar@Nxtag:~$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl ... logging to /home/shzargar/.ros/log/fc7a9f7e-ac44-11e6-832b-98e7f45b297c/roslaunch-Nxtag-31025.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://localhost:37700/
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) 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) rqt_hironxo (rqt_gui/rqt_gui) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [31037] ROS_MASTER_URI=http://localhost:11311
setting /run_id to fc7a9f7e-ac44-11e6-832b-98e7f45b297c process[rosout-1]: started with pid [31050] started core service [/rosout] process[hrpsys_py-2]: started with pid [31067] process[HrpsysSeqStateROSBridge-3]: started with pid [31068] process[HrpsysJointTrajectoryBridge-4]: started with pid [31069] process[hrpsys_state_publisher-5]: started with pid [31070] process[hrpsys_ros_diagnostics-6]: started with pid [31078] process[diagnostic_aggregator-7]: started with pid [31089] process[hrpsys_profile-8]: started with pid [31119] Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint process[sensor_ros_bridge_connect-9]: started with pid [31142] process[rtmlaunch_hrpsys_ros_bridge-10]: started with pid [31149] duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1479332298.311122375]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[SequencePlayerServiceROSBridge-11]: started with pid [31157] process[DataLoggerServiceROSBridge-12]: started with pid [31165] process[ForwardKinematicsServiceROSBridge-13]: started with pid [31181] process[StateHolderServiceROSBridge-14]: started with pid [31200] process[RobotHardwareServiceROSBridge-15]: started with pid [31220] process[CollisionDetectorComp-16]: started with pid [31252] process[rtmlaunch_collision_detector-17]: started with pid [31279] process[collision_state-18]: started with pid [31303] process[rqt_hironxo-19]: started with pid [31315] ;; ;; Could not open /dev/console for writing. ;; open: Permission denied [CollisionDetector0] onInitialize() ModelLoaderException : /opt/jsk/etc/NEXTAGE/model/main.wrl cannot be found. [CollisionDetector0] failed to load model[file:///opt/jsk/etc/NEXTAGE/model/main.wrl] terminate called after throwing an instance of 'CORBA::BAD_PARAM' [ INFO] [1479332298.856162159]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) [ INFO] [1479332298.953450149]: [HrpsysSeqStateROSBridge] Loaded HiroNX [ INFO] [1479332298.955802828]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done [ERROR] [1479332299.008145718]: Target Node visual1/node_joint0_axis0 NOT found!!!
[rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[sensor_ros_bridge_connect.py] start
configuration ORB with nextage:15005
[sensor_ros_bridge_connect.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS nextage:15005 nextage:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[CollisionDetectorComp-16] process has died [pid 31252, exit code -6, cmd /opt/ros/indigo/lib/hrpsys/CollisionDetectorComp -o corba.nameservers:nextage:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/collision_detector%p.log -o example.CollisionDetector.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/realrobot_fixedpath.conf **name:=CollisionDetectorComp _log:=/home/shzargar/.ros/log/fc7a9f7e-ac44-11e6-832b-98e7f45b297c/CollisionDetectorComp-16.log].
log file: /home/shzargar/.ros/log/fc7a9f7e-ac44-11e6-832b-98e7f45b297c/CollisionDetectorComp-16.log
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
configuration ORB with nextage:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[rtmlaunch] Wait for /nextage:15005/CollisionDetector0.rtc:qCurrent 0 /30
configuration ORB with nextage:15005
[WARN] [WallTime: 1479332299.927190] Could not found CollisionDetector(CollisionDetector0), waiting...
[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}
[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}
[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}
[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}
[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}
[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}
[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
[rtmlaunch] Activate <- Inactive /nextage:15005/SequencePlayerServiceROSBridge.rtc
[ INFO] [1479332300.301298679]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz](exec 1 Hz, dropped 0)
[rtmlaunch] Activate <- Inactive /nextage:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /nextage:15005/StateHolderServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /nextage:15005/RobotHardwareServiceROSBridge.rtc
[ INFO] [1479332300.305934189]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1479332300.305979971]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[sensor_ros_bridge_connect.py] wait for RTCmanager : nextage
[ INFO] [1479332300.373859153]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1479332300.373895716]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[sensor_ros_bridge_connect.py] wait for RobotHardware0 : <hrpsys.rtm.RTcomponent instance at 0x7f00f7de9bd8> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f00f7de9bd8> isActive? = True
[ INFO] [1479332300.407514064]: ADD_GROUP: head (/head_controller)
[ INFO] [1479332300.407554779]: JOINT: HEAD_JOINT0 HEAD_JOINT1
[sensor_ros_bridge_connect.py] simulation_mode : False
[ INFO] [1479332300.447486420]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1479332300.447520469]: JOINT: CHEST_JOINT0
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[ INFO] [1479332300.476014841]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1479332300.476052146]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[ INFO] [1479332300.507359209]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1479332300.507390197]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[sensor_ros_bridge_connect-9] process has finished cleanly
log file: /home/shzargar/.ros/log/fc7a9f7e-ac44-11e6-832b-98e7f45b297c/sensor_ros_bridgeconnect-9.log
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f5975d10dd0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f5975d10dd0> isActive? = True
[hrpsys.py] simulation_mode : False
[hrpsys.py] Hrpsys controller version info:
[hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7f5975d10a28>
[hrpsys.py] ref = <RTM._objref_Manager instance at 0x7f5975d10d40>
[WARN] [WallTime: 1479332300.932084] Could not found CollisionDetector(CollisionDetector0), waiting...
[hrpsys.py] version = 315.1.8
;;
;; Loading ImpedanceController < 315.1.9
;;
[hrpsys.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[rtmlaunch] Wait for /nextage:15005/CollisionDetector0.rtc:qCurrent 1 /30
[hrpsys.py] no hrpsys components found running. creating now
[hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
RTC named "seq" already exists.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f5975d23bd8> (315.1.8)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f5975b7a3b0>
[hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[ INFO] [1479332301.301778469]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 208[Hz](exec 1706 Hz, dropped 208)
RTC named "sh" already exists.
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f5975c28050> (315.1.8)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f5975cc6ef0>
[hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
RTC named "fk" already exists.
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f5975d23560> (315.1.8)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f5975b8ac20>
[hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
RTC named "ic" already exists.
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f5975cde950> (315.1.8)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f5975b8acb0>
[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 0x7f5975b847a0> (315.1.8)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f5975b7aea8>
[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 0x7f5975d237a0> (315.1.8)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7f5975b8f248>
[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 0x7f5975b8a128> (315.1.8)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f5975caeef0>
[hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("AbsoluteForceSensor","rmfo")
[hrpsys.py] Fail to createComps 'NoneType' object has no attribute 'ref'
[hrpsys.py] connecting hrpsys components
[rtm.py] sh.qOut and ic.qRef are already connected
[rtm.py] ic.q and el.qRef are already connected
[rtm.py] el.q and RobotHardware0.qRef are already connected
[rtm.py] RobotHardware0.servoState and el.servoStateIn are already connected
[rtm.py] RobotHardware0.q and sh.currentQIn are already connected
[rtm.py] RobotHardware0.q and fk.q are already connected
[rtm.py] sh.qOut and fk.qRef are already connected
[rtm.py] seq.qRef and sh.qIn are already connected
[rtm.py] seq.tqRef and sh.tqIn are already connected
[rtm.py] seq.basePos and sh.basePosIn are already connected
[rtm.py] seq.baseRpy and sh.baseRpyIn are already connected
[rtm.py] seq.zmpRef and sh.zmpIn are already connected
[rtm.py] sh.basePosOut and seq.basePosInit are already connected
[rtm.py] sh.basePosOut and fk.basePosRef are already connected
[rtm.py] sh.baseRpyOut and seq.baseRpyInit are already connected
[rtm.py] sh.baseRpyOut and fk.baseRpyRef are already connected
[rtm.py] sh.qOut and seq.qInit are already connected
[INFO] [WallTime: 1479332301.531848] Connecting to RTM nameserver. host=localhost, port=15005, robotname=RobotHardware0
configuration ORB with localhost:15005
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=15005).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
[rtm.py] RobotHardware0.q and ic.qCurrent are already connected
[rtm.py] RobotHardware0.q and el.qCurrent are already connected
[hrpsys.py] activating hrpsys components
[hrpsys.py] Fail to find instance (['rmfo', 'AbsoluteForceSensor']) 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 hrpsys logger
[hrpsys.py] setupLogger : q arleady exists in DataLogger
[rtm.py] RobotHardware0.q and log.RobotHardware0_q are already connected
^C[hrpsys.py] setupLogger : dq arleady exists in DataLogger
[rtm.py] RobotHardware0.dq and log.RobotHardware0_dq are already connected
[rqt_hironxo-19] killing on exit
[collision_state-18] killing on exit
[hrpsys.py] setupLogger : tau arleady exists in DataLogger
[rtmlaunch_collision_detector-17] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[rtm.py] RobotHardware0.tau and log.RobotHardware0_tau are already connected
[hrpsys.py] sensor names for DataLogger
[RobotHardwareServiceROSBridge-15] killing on exit
[ForwardKinematicsServiceROSBridge-13] killing on exit
[StateHolderServiceROSBridge-14] killing on exit
[DataLoggerServiceROSBridge-12] killing on exit
[SequencePlayerServiceROSBridge-11] killing on exit
[rtmlaunch_hrpsys_ros_bridge-10] killing on exit
[hrpsys_profile-8] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[diagnostic_aggregator-7] killing on exit
[hrpsys_ros_diagnostics-6] killing on exit
[hrpsys.py] setupLogger : qOut arleady exists in DataLogger
[rtm.py] sh.qOut and log.sh_qOut are already connected
[hrpsys_state_publisher-5] killing on exit
[WARN] [WallTime: 1479332301.891125] Could not found CollisionDetector(CollisionDetector0), waiting...
[hrpsys.py] setupLogger : tqOut arleady exists in DataLogger
[rtm.py] sh.tqOut and log.sh_tqOut are already connected
[hrpsys.py] setupLogger : basePosOut arleady exists in DataLogger
[rtm.py] sh.basePosOut and log.sh_basePosOut are already connected
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
[HrpsysJointTrajectoryBridge-4] killing on exit
[ INFO] [1479332302.058450507]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[hrpsys.py] setupLogger : baseRpyOut arleady exists in DataLogger
[ INFO] [1479332302.068415146]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
[rtm.py] sh.baseRpyOut and log.sh_baseRpyOut are already connected
[ INFO] [1479332302.076089949]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[HrpsysSeqStateROSBridge-3] killing on exit
[ INFO] [1479332302.082866484]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
[ INFO] [1479332302.084347903]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
[ INFO] [1479332302.097485935]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
[ INFO] [1479332302.104424150]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
[hrpsys.py] setupLogger : zmpOut arleady exists in DataLogger
[rtm.py] sh.zmpOut and log.sh_zmpOut are already connected
[hrpsys.py] setupLogger : q arleady exists in DataLogger
[rtm.py] ic.q and log.ic_q are already connected
[hrpsys_py-2] killing on exit
omniORB: Caught an unexpected Python exception during up-call.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1201, in __init
def init**(self):
KeyboardInterrupt
Exception AttributeError: "_objref_PortService instance has no attribute '_Objectrelease'" in <bound method _objref_PortService.del__ of <RTC._objref_PortService instance at 0x7f5975d10cb0>> ignored
Traceback (most recent call last):
File "/opt/ros/indigo/share/hironx_ros_bridge/scripts/hironx.py", line 76, in
shzargar
commented
7 years ago It is hard to take the output of rtmlaunch, since it fills the whole terminal ans some parts will be missing. If there is a command that send the output of a command to a file or to Github, please let me know. By the way that i what I was able to get after rtmlaunch. . . .
The model was successfully loaded !
[rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
[rtmlaunch] starting... /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
The model was successfully loaded !
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) )
[rtmlaunch] .. Could not connect to NameServer at localhost:15005 , Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) )
[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/ [rtmlaunch] .. You can check withrtls localhost:15005/ [rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) [rtmlaunch] .. Could not connect to NameServer at localhost:15005 , Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) [rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/
[rtmlaunch] .. You can check with rtls localhost:15005/
[hrpsys-3] process has died [pid 29923, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /opt/ros/indigo/share/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf *name:=hrpsys log:=/home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/hrpsys-3.log].
log file: /home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/hrpsys-3_.log
[hrpsys-3] restarting process
process[hrpsys-3]: started with pid [30434]
[CollisionDetector0] prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
[CollisionDetector0] check collisions between RARM_JOINT2 and LARM_JOINT2
[CollisionDetector0] check collisions between RARM_JOINT3 and LARM_JOINT3
[CollisionDetector0] check collisions between RARM_JOINT4 and LARM_JOINT4
[CollisionDetector0] check collisions between RARM_JOINT5 and LARM_JOINT5
configuration ORB with localhost:15005
Manager not found
[rtmlaunch_hrpsys_ros_bridge-12] process has finished cleanly
log file: /home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/rtmlaunch_hrpsys_rosbridge-12.log
[rtmlaunch_collision_detector-18] process has finished cleanly
log file: /home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/rtmlaunch_collisiondetector-18.log
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[ERROR] [Errno -2] Name or service not known
[ERROR] Could not get hostname for Nxtag
[ERROR] Make sure that you set the target hostname and address in DNS or /etc/hosts in linux/unix.
[sensor_ros_bridge_connect-11] process has died [pid 30058, exit code 1, cmd /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py /opt/ros/indigo/share/nextage_description/models/main.wrl HiroNX(Robot)0 HrpsysSeqStateROSBridge0 localhost new all 50.0 -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=sensor_ros_bridge_connect log:=/home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/sensor_ros_bridge_connect-11.log].
log file: /home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/sensor_ros_bridgeconnect-11.log
[hrpsys-3] process has died [pid 30434, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /opt/ros/indigo/share/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/opt/ros/indigo/share/nextage_ros_bridge/conf/nextage.conf name:=hrpsys log:=/home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/hrpsys-3.log].
log file: /home/shzargar/.ros/log/75f8afde-ac46-11e6-b77e-98e7f45b297c/hrpsys-3.log
[hrpsys-3] restarting process
process[hrpsys-3]: started with pid [30493]
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
Traceback (most recent call last):
File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py", line 191, in
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : None ( timeout 0 < 10)
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[DataLoggerServiceROSBridge-14] killing on exit
[hrpsys_profile-10] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[hrpsys_state_publisher-7] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[HrpsysJointTrajectoryBridge-6] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : None ( timeout 0 < 10)
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
[HrpsysSeqStateROSBridge-5] killing on exit
[ INFO] [1479332936.735841290]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[hrpsys_py-4] killing on exit
Traceback (most recent call last):
File "/opt/ros/indigo/share/nextage_ros_bridge/script/nextage.py", line 74, in
shzargar@Nxtag:~$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch [rtmlaunch] Start omniNames at port 15005
Wed Nov 16 16:49:23 2016:
Starting omniNames for the first time. Wrote initial log file. Read log file successfully. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f0000003139322e3136382e3132382e363000009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000063d42c58010077b7 Checkpointing Phase 1: Prepare. Checkpointing Phase 2: Commit. Checkpointing completed. ... logging to /home/shzargar/.ros/log/899d493c-ac46-11e6-b949-98e7f45b297c/roslaunch-Nxtag-30641.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://localhost:37472/
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) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) collision_state (hrpsys_ros_bridge/collision_state.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hrpsys (hrpsys/hrpsys-simulator) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_py (nextage_ros_bridge/nextage.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) modelloader (openhrp3/openhrp-model-loader) rqt_hironxo (rqt_gui/rqt_gui) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate
TypeError: not all arguments converted during string formatting
[INFO] [WallTime: 1479332884.068908] [0.000000] Connecting to RTM nameserver. host=localhost, port=15005, robotname=HiroNX(Robot)0
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[ INFO] [1479332884.103610268]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1479332884.103636183]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
omniORB: ERROR -- the application attempted to invoke an operation
on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(rarm), CORBA::SystemException INV_OBJREF
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f02c8d494d0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f02c8d494d0> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py] Hrpsys controller version info:
[hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7f02c8d498c0>
[hrpsys.py] ref = <RTM._objref_Manager instance at 0x7f02c8d49170>
[hrpsys.py] version = 315.10.1
[hrpsys.py] bodyinfo URL = file:///opt/ros/indigo/share/nextage_description/models/main.wrl
loading file:///opt/ros/indigo/share/nextage_description/models/main.wrl
Humanoid node
Joint node WAIST
Segment node WAIST
Joint node CHEST_JOINT0
Segment node CHEST_JOINT0_Link
Joint node HEAD_JOINT0
Segment node HEAD_JOINT0_Link
Joint node HEAD_JOINT1
Segment node HEAD_JOINT1_Link
VisionSensorCAMERA_HEAD_R
VisionSensorCAMERA_HEAD_L
Joint node RARM_JOINT0
Segment node RARM_JOINT0_Link
Joint node RARM_JOINT1
Segment node RARM_JOINT1_Link
Joint node RARM_JOINT2
Segment node RARM_JOINT2_Link
Joint node RARM_JOINT3
Segment node RARM_JOINT3_Link
Joint node RARM_JOINT4
Segment node RARM_JOINT4_Link
Joint node RARM_JOINT5
Segment node RARM_JOINT5_Link
Joint node LARM_JOINT0
Segment node LARM_JOINT0_Link
Joint node LARM_JOINT1
Segment node LARM_JOINT1_Link
Joint node LARM_JOINT2
Segment node LARM_JOINT2_Link
Joint node LARM_JOINT3
Segment node LARM_JOINT3_Link
Joint node LARM_JOINT4
Segment node LARM_JOINT4_Link
Joint node LARM_JOINT5
Segment node LARM_JOINT5_Link
Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
Warning: Mass is zero.
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 2 /30 [rtmlaunch] Wait for /localhost:15005/CollisionDetector0.rtc:qCurrent 2 /30 [ERROR] [1479332578.377029574]: Target Node visual1/node_joint0_axis0 NOT found!!!
[ WARN] [1479332578.381392065]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[ WARN] [1479332578.384889243]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[WARN] [WallTime: 1479332578.425459] [0.000000] CollisionDetector(CollisionDetector0) is not activated, waiting... [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc [CollisionDetector0] onActivated(0) [CollisionDetector0] set safe posture [ WARN] [1479332578.476177210]: could not find openrave joint WAIST!
[ERROR] [1479332578.481861156]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'? [ INFO] [1479332578.481931603]: Loading robot model 'HiroNX'... [ INFO] [1479332578.481954233]: No root joint specified. Assuming fixed joint [hrpsys.py] wait for RTCmanager : None [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fb291c6eef0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fb291c6eef0> isActive? = True [hrpsys.py] simulation_mode : True [hrpsys.py] Hrpsys controller version info: [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7fb291c6e878> [hrpsys.py] ref = <RTM._objref_Manager instance at 0x7fb291c6ed88> [hrpsys.py] version = 315.10.1 [hrpsys.py] hrpsys components are already created and running [hrpsys.py] [self.seq, self.seq_svc, self.seq_version] = self.findComp("SequencePlayer","seq",0,True) [hrpsys.py] find Comp : seq = <hrpsys.rtm.RTcomponent instance at 0x7fb2926427a0> (315.10.1) [hrpsys.py] find CompSvc : seq_svc = <OpenHRP._objref_SequencePlayerService instance at 0x7fb291330878> [hrpsys.py] [self.sh, self.sh_svc, self.sh_version] = self.findComp("StateHolder","sh",0,True) [hrpsys.py] find Comp : sh = <hrpsys.rtm.RTcomponent instance at 0x7fb291138c68> (315.10.1) [hrpsys.py] find CompSvc : sh_svc = <OpenHRP._objref_StateHolderService instance at 0x7fb291b26ea8> [hrpsys.py] [self.fk, self.fk_svc, self.fk_version] = self.findComp("ForwardKinematics","fk",0,True) [hrpsys.py] find Comp : fk = <hrpsys.rtm.RTcomponent instance at 0x7fb291c6ec20> (315.10.1) [hrpsys.py] find CompSvc : fk_svc = <OpenHRP._objref_ForwardKinematicsService instance at 0x7fb291c4d878> [hrpsys.py] [self.ic, self.ic_svc, self.ic_version] = self.findComp("ImpedanceController","ic",0,True) [hrpsys.py] find Comp : ic = <hrpsys.rtm.RTcomponent instance at 0x7fb291c6e098> (315.10.1) [hrpsys.py] find CompSvc : ic_svc = <OpenHRP._objref_ImpedanceControllerService instance at 0x7fb291ce3ab8> [hrpsys.py] [self.el, self.el_svc, self.el_version] = self.findComp("SoftErrorLimiter","el",0,True) [hrpsys.py] find Comp : el = <hrpsys.rtm.RTcomponent instance at 0x7fb292641440> (315.10.1) [hrpsys.py] find CompSvc : el_svc = <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fb291ce3680> [hrpsys.py] [self.sc, self.sc_svc, self.sc_version] = self.findComp("ServoController","sc",0,True) [hrpsys.py] find Comp : sc = <hrpsys.rtm.RTcomponent instance at 0x7fb291c4d290> (315.10.1) [hrpsys.py] find CompSvc : sc_svc = <OpenHRP._objref_ServoControllerService instance at 0x7fb2911a23b0> [hrpsys.py] [self.log, self.log_svc, self.log_version] = self.findComp("DataLogger","log",0,True) [hrpsys.py] find Comp : log = <hrpsys.rtm.RTcomponent instance at 0x7fb291c6e8c0> (315.10.1) [hrpsys.py] find CompSvc : log_svc = <OpenHRP._objref_DataLoggerService instance at 0x7fb291b82f38> [hrpsys.py] [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.findComp("RemoveForceSensorLinkOffset","rmfo",0,True) [hrpsys.py] find Comp : rmfo = <hrpsys.rtm.RTcomponent instance at 0x7fb291c4d320> (315.10.1) [hrpsys.py] find CompSvc : rmfo_svc = <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7fb291afb290> [hrpsys.py] setup joint groups for hrpsys controller [addJointGroup] group name = torso [addJointGroup] group name TORSO is already installed [addJointGroup] group name = head [addJointGroup] group name HEAD is already installed [addJointGroup] group name = rarm [addJointGroup] group name RARM is already installed [addJointGroup] group name = larm [addJointGroup] group name LARM is already installed [hrpsys.py] initialized successfully [addJointGroup] group name = torso [addJointGroup] group name TORSO is already installed [addJointGroup] group name = head [addJointGroup] group name HEAD is already installed [addJointGroup] group name = rarm [addJointGroup] group name RARM is already installed [addJointGroup] group name = larm [addJointGroup] group name LARM is already installed [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 3 /30 [rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService [rtmlaunch] to localhost:15005/sh.rtc:StateHolderService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/sh.rtc:baseTformOut [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseTform [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [INFO] [WallTime: 1479332579.439060] [0.000000] bodyinfo URL = file:///opt/ros/indigo/share/nextage_description/models/main.wrl cache found for file:///opt/ros/indigo/share/nextage_description/models/main.wrl [rtmlaunch] Connected from localhost:15005/sh.rtc:qOut [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService [rtmlaunch] to localhost:15005/log.rtc:DataLoggerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Connected from localhost:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService [rtmlaunch] to localhost:15005/fk.rtc:ForwardKinematicsService [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysSeqStateROSBridge0.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysJointTrajectoryBridge0.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/DataLoggerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc [ INFO] [1479332579.631099916, 3.844999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz](exec 1 Hz, dropped 0) [rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc [ INFO] [1479332579.636162736, 3.879999999]: ADD_GROUP: larm (/larm_controller) [ INFO] [1479332579.636211729, 3.879999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 [rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc [addJointGroup] group name = larm [addJointGroup] group name LARM is already installed [ INFO] [1479332579.694107163, 3.939999999]: ADD_GROUP: rarm (/rarm_controller) [ INFO] [1479332579.694144279, 3.939999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 [addJointGroup] group name = rarm [addJointGroup] group name RARM is already installed [ INFO] [1479332579.725587049, 3.969999999]: ADD_GROUP: head (/head_controller) [ INFO] [1479332579.725638261, 3.969999999]: JOINT: HEAD_JOINT0 HEAD_JOINT1 [addJointGroup] group name = head [addJointGroup] group name HEAD is already installed [ INFO] [1479332579.759392367, 4.009999999]: ADD_GROUP: torso (/torso_controller) [ INFO] [1479332579.759430025, 4.009999999]: JOINT: CHEST_JOINT0 [addJointGroup] group name = torso [addJointGroup] group name TORSO is already installed [ INFO] [1479332579.808498371, 4.054999999]: ADD_GROUP: larm_torso (/larm_torso_controller) [ INFO] [1479332579.808549050, 4.054999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0 [addJointGroup] group name = larm_torso [ INFO] [1479332579.839210408, 4.089999999]: ADD_GROUP: rarm_torso (/rarm_torso_controller) [ INFO] [1479332579.839249503, 4.089999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0 [addJointGroup] group name = rarm_torso [INFO] [WallTime: 1479332580.015045] [4.255000] 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: 1479332580.018544] [4.255000] Moveit is not started yet, if you want to use MoveIt! Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch) [hrpsys_py-4] process has finished cleanly log file: /home/shzargar/.ros/log/a1217d72-ac45-11e6-94e7-98e7f45b297c/hrpsys_py-4*.log [ INFO] [1479332580.633050060, 4.879999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 208[Hz](exec 1663 Hz, dropped 208) [INFO] [WallTime: 1479332580.760584] [5.015000] check 4 collision status, 0.797607 Hz [ INFO] [1479332581.638024675, 5.894999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz](exec 1671 Hz, dropped 202) [ INFO] [1479332582.640312221, 6.899999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz](exec 1626 Hz, dropped 201) ^C[rqt_hironxo-20] killing on exit [collision_state-19] killing on exit [rtmlaunch_collision_detector-18] killing on exit [rtmlaunch] Catch signal 'SIGINT', exitting... [CollisionDetectorComp-17] killing on exit [CollisionDetector0] onDeactivated(0) [StateHolderServiceROSBridge-16] killing on exit [ForwardKinematicsServiceROSBridge-15] killing on exit [SequencePlayerServiceROSBridge-13] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [DataLoggerServiceROSBridge-14] killing on exit [rtmlaunch_hrpsys_ros_bridge-12] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [rtmlaunch] Catch signal 'SIGINT', exitting... [hrpsys_profile-10] killing on exit terminate called after throwing an instance of 'CORBA::COMM_FAILURE' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [ INFO] [1479332583.645870923, 7.904999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz](exec 1626 Hz, dropped 202) terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [diagnostic_aggregator-9] killing on exit [hrpsys_ros_diagnostics-8] killing on exit [hrpsys_state_publisher-7] killing on exit [HrpsysJointTrajectoryBridge-6] killing on exit [ INFO] [1479332583.954426752, 8.209999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm [HrpsysSeqStateROSBridge-5] killing on exit [hrpsys-3] killing on exit [modelloader-2] killing on exit [ INFO] [1479332583.976890777, 8.209999999]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 [ INFO] [1479332583.978231793, 8.209999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' terminate called after throwing an instance of 'CORBA::COMM_FAILURE' [ INFO] [1479332584.003771273, 8.209999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head [ INFO] [1479332584.023895523, 8.209999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso [ INFO] [1479332584.037619931, 8.209999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
shzargar
commented
7 years ago env | grep ROS
ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_HOSTNAME=localhost
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=indigo
ROS_ETC_DIR=/opt/ros/indigo/etc/ros cat /etc/hosts
127.0.0.1 localhost
#For accessing QNX for NEXTAGE Open
192.168.128.10 Nextage
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allroutersTo dump output into a file you can try this (fill in COMMAND with your command):
unbuffer COMMAND 2>&1 | tee logThanks, here all the logs for the three commands in the first comment Logs.zip
534o
commented
7 years ago thanks, what is Nxtag it it the name of your machine? if so , please add that name to /etc/hosts, like
cat /etc/hosts
127.0.0.1 localhost
127.0.1.1 Nxtag
#For accessing QNX for NEXTAGE Open
192.168.128.10 Nextage
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allroutersThanks, Now my simulation is working. A month ago, with your help I set my eth0 connection and changed my hosts to add Nextage. I am just interested to learn more about the line 127.0.1.1 Nxtag. This is to know for a new installation or new user, how should I change it.
534o
commented
7 years ago A month ago, with your help I set my eth0 connection and changed my hosts to add Nextage.
sorry for that, please point out where did we ask you to change that, 127.0.1.1 is very basic information for ubuntu system so I think it is very bad idea to remove that -> http://askubuntu.com/questions/754213/what-is-difference-between-localhost-address-127-0-0-1-and-127-0-1-1
shzargar
commented
7 years ago Thanks for your explanation, however, I don’t think that 127.0.1.1 was there from the beginning. That is a fresh Ubuntu installation on a laptop. I had only the instruction to add these two below lines:
192.168.128.10 Nextage Except the above, I hadn't changed anything in the original hosts file, up until now that I add 127.0.1.1.
130s
commented
7 years ago I assume this issue is addressed. Please feel free to re-open with updated info if the issue persists.
In this sequence to simulate the robot motion:
on the first terminal;
on the second one;
and on the third one;
I am getting this error.
and then those commands for robot. is not available.