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tork-a / spur

ROS package suite for SPUR, mobile base robot with extensible arm made at Tamagawa University.
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"Unknown error has occured. Unable to start controller joint_state_publisher" #24

Closed 130s closed 9 years ago

130s commented 9 years ago

Using #22, 

$ roslaunch spur_controller spur_controller.launch 
:
PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/debug: True
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: False
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/output_frame: odom
 * /robot_pose_ekf/self_diagnose: False
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /rosdistro: indigo
 * /rosversion: 1.11.11
 * /spur/bl_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/bl_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/bl_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/bl_rotation_joint_position_controller/joint_name: bl_rotation_joint
 * /spur/bl_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/bl_rotation_joint_position_controller/motor/id: 3
 * /spur/bl_rotation_joint_position_controller/motor/init: 2048
 * /spur/bl_rotation_joint_position_controller/motor/max: 4095
 * /spur/bl_rotation_joint_position_controller/motor/min: 0
 * /spur/bl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/bl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/bl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/bl_wheel_joint_velocity_controller/joint_name: bl_wheel_joint
 * /spur/bl_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/bl_wheel_joint_velocity_controller/motor/id: 7
 * /spur/bl_wheel_joint_velocity_controller/motor/init: 0
 * /spur/bl_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/bl_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/br_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/br_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/br_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/br_rotation_joint_position_controller/joint_name: br_rotation_joint
 * /spur/br_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/br_rotation_joint_position_controller/motor/id: 2
 * /spur/br_rotation_joint_position_controller/motor/init: 2048
 * /spur/br_rotation_joint_position_controller/motor/max: 4095
 * /spur/br_rotation_joint_position_controller/motor/min: 0
 * /spur/br_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/br_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/br_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/br_wheel_joint_velocity_controller/joint_name: br_wheel_joint
 * /spur/br_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/br_wheel_joint_velocity_controller/motor/id: 6
 * /spur/br_wheel_joint_velocity_controller/motor/init: 0
 * /spur/br_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/br_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/fl_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/fl_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/fl_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/fl_rotation_joint_position_controller/joint_name: fl_rotation_joint
 * /spur/fl_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/fl_rotation_joint_position_controller/motor/id: 4
 * /spur/fl_rotation_joint_position_controller/motor/init: 2048
 * /spur/fl_rotation_joint_position_controller/motor/max: 4095
 * /spur/fl_rotation_joint_position_controller/motor/min: 0
 * /spur/fl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/fl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/fl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/fl_wheel_joint_velocity_controller/joint_name: fl_wheel_joint
 * /spur/fl_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/fl_wheel_joint_velocity_controller/motor/id: 8
 * /spur/fl_wheel_joint_velocity_controller/motor/init: 0
 * /spur/fl_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/fl_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/fr_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/fr_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/fr_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/fr_rotation_joint_position_controller/joint_name: fr_rotation_joint
 * /spur/fr_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/fr_rotation_joint_position_controller/motor/id: 1
 * /spur/fr_rotation_joint_position_controller/motor/init: 2048
 * /spur/fr_rotation_joint_position_controller/motor/max: 4095
 * /spur/fr_rotation_joint_position_controller/motor/min: 0
 * /spur/fr_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/fr_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/fr_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/fr_wheel_joint_velocity_controller/joint_name: fr_wheel_joint
 * /spur/fr_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/fr_wheel_joint_velocity_controller/motor/id: 5
 * /spur/fr_wheel_joint_velocity_controller/motor/init: 0
 * /spur/fr_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/fr_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/joint_state_publisher/controller/module: joint_state_publi...
 * /spur/joint_state_publisher/controller/package: dynamixel_control...
 * /spur/joint_state_publisher/controller/type: JointStatePublisher
 * /spur/larm_elbow_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_elbow_p_joint_position_controller/joint_name: larm_elbow_p_joint
 * /spur/larm_elbow_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_elbow_p_joint_position_controller/motor/id: 9
 * /spur/larm_elbow_p_joint_position_controller/motor/init: 2048
 * /spur/larm_elbow_p_joint_position_controller/motor/max: 4095
 * /spur/larm_elbow_p_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_p_joint_position_controller/joint_name: larm_shoulder_p_j...
 * /spur/larm_shoulder_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_p_joint_position_controller/motor/id: 10
 * /spur/larm_shoulder_p_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_p_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_p_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_r_joint_position_controller/joint_name: larm_shoulder_r_j...
 * /spur/larm_shoulder_r_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_r_joint_position_controller/motor/id: 11
 * /spur/larm_shoulder_r_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_r_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_r_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_y_joint_position_controller/joint_name: larm_shoulder_y_j...
 * /spur/larm_shoulder_y_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_y_joint_position_controller/motor/id: 12
 * /spur/larm_shoulder_y_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_y_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_y_joint_position_controller/motor/min: 0
 * /spur/larm_wrist_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_wrist_p_joint_position_controller/joint_name: larm_wrist_p_joint
 * /spur/larm_wrist_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_wrist_p_joint_position_controller/motor/id: 13
 * /spur/larm_wrist_p_joint_position_controller/motor/init: 2048
 * /spur/larm_wrist_p_joint_position_controller/motor/max: 4095
 * /spur/larm_wrist_p_joint_position_controller/motor/min: 0
 * /spur/larm_wrist_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_wrist_r_joint_position_controller/joint_name: larm_wrist_r_joint
 * /spur/larm_wrist_r_joint_position_controller/joint_speed: 2.0
 * /spur/larm_wrist_r_joint_position_controller/motor/id: 14
 * /spur/larm_wrist_r_joint_position_controller/motor/init: 2048
 * /spur/larm_wrist_r_joint_position_controller/motor/max: 4095
 * /spur/larm_wrist_r_joint_position_controller/motor/min: 0
 * /spur/rarm_elbow_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_elbow_p_joint_position_controller/joint_name: rarm_elbow_p_joint
 * /spur/rarm_elbow_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_elbow_p_joint_position_controller/motor/id: 15
 * /spur/rarm_elbow_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_elbow_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_elbow_p_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_p_joint_position_controller/joint_name: rarm_shoulder_p_j...
 * /spur/rarm_shoulder_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_p_joint_position_controller/motor/id: 16
 * /spur/rarm_shoulder_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_p_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_r_joint_position_controller/joint_name: rarm_shoulder_r_j...
 * /spur/rarm_shoulder_r_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_r_joint_position_controller/motor/id: 17
 * /spur/rarm_shoulder_r_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_r_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_r_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_y_joint_position_controller/joint_name: rarm_shoulder_y_j...
 * /spur/rarm_shoulder_y_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_y_joint_position_controller/motor/id: 18
 * /spur/rarm_shoulder_y_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_y_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_y_joint_position_controller/motor/min: 0
 * /spur/rarm_wrist_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_wrist_p_joint_position_controller/joint_name: rarm_wrist_p_joint
 * /spur/rarm_wrist_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_wrist_p_joint_position_controller/motor/id: 19
 * /spur/rarm_wrist_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_wrist_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_wrist_p_joint_position_controller/motor/min: 0
 * /spur/rarm_wrist_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_wrist_r_joint_position_controller/joint_name: rarm_wrist_r_joint
 * /spur/rarm_wrist_r_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_wrist_r_joint_position_controller/motor/id: 20
 * /spur/rarm_wrist_r_joint_position_controller/motor/init: 2048
 * /spur/rarm_wrist_r_joint_position_controller/motor/max: 4095
 * /spur/rarm_wrist_r_joint_position_controller/motor/min: 0
 * /spur/spur_controller_manager/diagnostics_rate: 2
 * /spur/spur_controller_manager/namespace: spur_controller_m...
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/baud_rate: 1000000
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/error_level_temp: 70
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/warn_level_temp: 65
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/max_motor_id: 8
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/min_motor_id: 1
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/port_name: /dev/ttyUSB0
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/update_rate: 20

NODES
  /spur/
    dynamixel_controller_spawner_MX106 (dynamixel_controllers/controller_spawner.py)
    joint_state_publisher_spawner (dynamixel_controllers/controller_spawner.py)
    spur_base_controller (spur_controller/base_controller.py)
    spur_controller_manager (dynamixel_controllers/controller_manager.py)
  /
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [10182]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3dc1230a-ee2c-11e4-9e1a-f816542d218e
process[rosout-1]: started with pid [10195]
started core service [/rosout]
process[spur/spur_controller_manager-2]: started with pid [10212]
process[spur/dynamixel_controller_spawner_MX106-3]: started with pid [10215]
process[spur/joint_state_publisher_spawner-4]: started with pid [10218]
process[spur/spur_base_controller-5]: started with pid [10224]
[INFO] [WallTime: 1430283452.699749] dynamixel_MX106 controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace...
process[robot_pose_ekf-6]: started with pid [10238]
process[robot_state_publisher-7]: started with pid [10293]
[INFO] [WallTime: 1430283452.868279] meta controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace...
/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_serial_proxy.py:92: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.motor_states_pub = rospy.Publisher('motor_states/%s' % self.port_namespace, MotorStateList)
/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_serial_proxy.py:93: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
[INFO] [WallTime: 1430283452.872628] dynamixel_MX106: Pinging motor IDs 1 through 8...
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
[INFO] [WallTime: 1430283453.080824] dynamixel_MX106: Found 8 motors - 8 MX-106 [1, 2, 3, 4, 5, 6, 7, 8], initialization complete.
/opt/ros/indigo/lib/dynamixel_controllers/controller_manager.py:126: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
[INFO] [WallTime: 1430283453.172721] meta controller_spawner: All services are up, spawning controllers...
[ERROR] [WallTime: 1430283453.175454] Unknown error has occured. Unable to start controller joint_state_publisher
'module' object has no attribute 'joint_state_publisher'
[INFO] [WallTime: 1430283453.305912] dynamixel_MX106 controller_spawner: All services are up, spawning controllers...
/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_controllers/joint_controller.py:108: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.joint_state_pub = rospy.Publisher(self.controller_namespace + '/state', JointState)
[INFO] [WallTime: 1430283453.328880] Controller fl_rotation_joint_position_controller successfully started.
[INFO] [WallTime: 1430283453.352442] Controller bl_rotation_joint_position_controller successfully started.
[INFO] [WallTime: 1430283453.375885] Controller br_rotation_joint_position_controller successfully started.
[INFO] [WallTime: 1430283453.395181] Controller fr_rotation_joint_position_controller successfully started.
[spur/joint_state_publisher_spawner-4] process has finished cleanly
log file: /home/rospasta/.ros/log/3dc1230a-ee2c-11e4-9e1a-f816542d218e/spur-joint_state_publisher_spawner-4*.log
[INFO] [WallTime: 1430283453.416721] Controller fl_wheel_joint_velocity_controller successfully started.
[INFO] [WallTime: 1430283453.437410] Controller bl_wheel_joint_velocity_controller successfully started.
[INFO] [WallTime: 1430283453.459121] Controller br_wheel_joint_velocity_controller successfully started.
[INFO] [WallTime: 1430283453.479490] Controller fr_wheel_joint_velocity_controller successfully started.
[spur/dynamixel_controller_spawner_MX106-3] process has finished cleanly
log file: /home/rospasta/.ros/log/3dc1230a-ee2c-11e4-9e1a-f816542d218e/spur-dynamixel_controller_spawner_MX106-3*.log
[INFO] [WallTime: 1430283454.263520] Start base controller

tftree_graph_jointstatepub_crashed

130s commented 9 years ago

No longer reproduceable. Maybe #30 resolved this.