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tork-a / visualization_rwt

visualization packages for rwt
BSD 3-Clause "New" or "Revised" License
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rwt_moveit) robot urdf space not displayed #38

Closed 130s closed 9 years ago

130s commented 9 years ago

It's similar to the ticket opened almost an year ago https://github.com/start-jsk/open-industrial-controllers/issues/121 (private, in Japanese) but not sure.

Following rwt_moveit/README.rst, I ran vs060 moveit launch and 

term-1$ roslaunch vs060_moveit_config demo_simulation_noenvironment.launch  (launch file name slightly different. Need to update doc)
term-2$ roslaunch rwt_moveit sim_demo.launch

And on Chrome I see:

rwt_moveit_no_robot_display

Clearly the 3D-space pane (something like the one in this picture from README) is missing.

ALso, in addition to README, according to the hack in https://github.com/start-jsk/open-industrial-controllers/issues/121, I did the following too (which is just a hack in rosbuild/rosmake era and should be generalized now with catkin) but I'm not yet sure how this affects the issue:

$ roscd rwt_moveit && make
130s commented 9 years ago

With the update in readme.rst I still can't get it working. I suspect the machine the servers running (Virtual machine in above setting) is extremely slow and that's why I didn't see yet the 3D view? I'll setup a faster machine anyway.

k-okada commented 9 years ago

did you change 3d enabled form chrome://flags/? did you check with robotwebtools's web page if it is the problem of your browser or rwt OR our developed code?

On Thu, Sep 11, 2014 at 7:47 AM, Isaac I.Y. Saito notifications@github.com wrote:

With the update in readme.rst https://github.com/130s/visualization_rwt/commit/cfb391e0c2c32f7ed3717a3ad2ea8b91d78ecf7a I still can't get it working. I suspect the machine the servers running (Virtual machine in above setting) is extremely slow and that's why I didn't see yet the 3D view? I'll setup a faster machine anyway.

— Reply to this email directly or view it on GitHub https://github.com/tork-a/visualization_rwt/issues/38#issuecomment-55194835 .

130s commented 9 years ago

did you change 3d enabled form chrome://flags/? did you check with robotwebtools's web page

Yes, I think I've included those in README.

(My machine being too slow is my silly problem...@dylanvaughn were you able to show rwt_moveit view?)

130s commented 9 years ago

Asked on answers being at a loss.

130s commented 9 years ago

I remember we can get better response on their email forum, so I re-posted here.

130s commented 9 years ago

@dylanvaughn I was/am under impression that there might have been changes in ros3djs that weren't present back in Dec 2013 when we were able to run. So yeah, I was thinking of a similar thing: to go through the robotwebtools tutorial first to build the simplest app.

130s commented 9 years ago

I noticed that I haven't posted command line output. Only the very first load of the web page at http://localhost:8000/rwt_moveit/, I get the following error:

[ERROR] [WallTime: 1411687975.205378] [Client 1] [id: call_service:/rosapi/get_param:NaN] call_service InvalidPackageException: Unable to load the manifest for package rosapi. Caused by: rosapi
[ERROR] [WallTime: 1411687975.208080] [Client 2] [id: subscribe:/stock_joint_position:NaN] subscribe: Unable to load the manifest for package std_msgs. Caused by: std_msgs

which is the same error discussed in https://github.com/ros/ros_comm/issues/401#issuecomment-42381832 by @jihoonl. Since looks like the discussion is moved to rosbridge repo so I'll follow it.

Full output:

$ roslaunch rwt_moveit sim_demo.launch 
... logging to /home/n130s/.ros/log/5c296b70-450a-11e4-8939-bc5ff4b8cb22/roslaunch-yayoi-13099.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://yayoi:51943/

SUMMARY
========

CLEAR PARAMETERS
 * /link_group/

PARAMETERS
 * /fixed_frame
 * /goal_interactive_moveit/prefix
 * /goal_state_publisher/tf_prefix
 * /rosbridge_websocket/address
 * /rosbridge_websocket/authenticate
 * /rosbridge_websocket/port
 * /rosdistro
 * /rosversion
 * /sim_mode
 * /start_interactive_moveit/prefix
 * /start_state_publisher/tf_prefix
 * /use_gui

NODES
  /
    connect_goal (tf/static_transform_publisher)
    connect_start (tf/static_transform_publisher)
    goal_interactive_moveit (rwt_moveit/interactive_moveit.py)
    goal_marker_proxy (interactive_marker_proxy/proxy)
    goal_state_publisher (robot_state_publisher/robot_state_publisher)
    joint_state_publisher (rwt_moveit/joint_state_publisher)
    link_group (rwt_moveit/link_group_publisher)
    moveit_publisher (rwt_moveit/moveit_publisher.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rosapi (rosapi/rosapi)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
    roswww (roswww/webserver.py)
    start_interactive_moveit (rwt_moveit/interactive_moveit.py)
    start_marker_proxy (interactive_marker_proxy/proxy)
    start_state_publisher (robot_state_publisher/robot_state_publisher)
    tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)
    virtual_joint_state_publisher (rwt_moveit/virtual_joint_state_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[connect_start-1]: started with pid [13119]
process[connect_goal-2]: started with pid [13130]
process[robot_state_publisher-3]: started with pid [13141]
process[start_state_publisher-4]: started with pid [13159]
process[goal_state_publisher-5]: started with pid [13178]
process[joint_state_publisher-6]: started with pid [13197]
process[virtual_joint_state_publisher-7]: started with pid [13204]
process[tf2_web_republisher-8]: started with pid [13208]
process[rosbridge_websocket-9]: started with pid [13251]
process[rosapi-10]: started with pid [13252]
process[moveit_publisher-11]: started with pid [13255]
registered capabilities (classes):
 - rosbridge_library.capabilities.call_service.CallService
 - rosbridge_library.capabilities.advertise.Advertise
 - rosbridge_library.capabilities.publish.Publish
 - rosbridge_library.capabilities.subscribe.Subscribe
 - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
 - rosbridge_library.capabilities.advertise_service.AdvertiseService
 - rosbridge_library.capabilities.service_response.ServiceResponse
 - rosbridge_library.capabilities.stop_service.StopService
process[start_interactive_moveit-12]: started with pid [13265]
process[goal_interactive_moveit-13]: started with pid [13297]
[robot_state_publisher-3] process has finished cleanly
log file: /home/n130s/.ros/log/5c296b70-450a-11e4-8939-bc5ff4b8cb22/robot_state_publisher-3*.log
[INFO] [WallTime: 1411687972.420477] Rosbridge WebSocket server started on port 9090
process[start_marker_proxy-14]: started with pid [13342]
process[goal_marker_proxy-15]: started with pid [13393]
process[link_group-16]: started with pid [13463]
process[roswww-17]: started with pid [13466]
No handlers could be found for logger "rosout"
[link_group-16] process has finished cleanly
log file: /home/n130s/.ros/log/5c296b70-450a-11e4-8939-bc5ff4b8cb22/link_group-16*.log
[INFO] [WallTime: 1411687975.201160] Client connected.  1 clients total.
[INFO] [WallTime: 1411687975.202311] Client connected.  2 clients total.
[INFO] [WallTime: 1411687975.202875] Client connected.  3 clients total.
[ERROR] [WallTime: 1411687975.205378] [Client 1] [id: call_service:/rosapi/get_param:NaN] call_service InvalidPackageException: Unable to load the manifest for package rosapi. Caused by: rosapi
[ERROR] [WallTime: 1411687975.208080] [Client 2] [id: subscribe:/stock_joint_position:NaN] subscribe: Unable to load the manifest for package std_msgs. Caused by: std_msgs
[INFO] [WallTime: 1411687975.408199] [Client 0] Subscribed to /tf2_web_republisher/status
[INFO] [WallTime: 1411687975.412215] [Client 0] Subscribed to /tf2_web_republisher/feedback
[INFO] [WallTime: 1411687975.416002] [Client 0] Subscribed to /tf2_web_republisher/result
[INFO] [WallTime: 1411687975.424547] [Client 0] Subscribed to /start/marker/tunneled/update
[INFO] [WallTime: 1411687975.439231] [Client 0] Subscribed to /goal/marker/tunneled/update
[INFO] [WallTime: 1411688066.631420] Client disconnected. 2 clients total.
[INFO] [WallTime: 1411688066.631780] Client disconnected. 1 clients total.
[INFO] [WallTime: 1411688066.655333] Client disconnected. 0 clients total.
[INFO] [WallTime: 1411688067.048391] Client connected.  1 clients total.
[INFO] [WallTime: 1411688067.049994] Client connected.  2 clients total.
[INFO] [WallTime: 1411688067.050865] Client connected.  3 clients total.
[INFO] [WallTime: 1411688067.059227] [Client 5] Subscribed to /stock_joint_position
[INFO] [WallTime: 1411688067.074898] [Client 3] Subscribed to /tf2_web_republisher/status
[INFO] [WallTime: 1411688067.078850] [Client 3] Subscribed to /tf2_web_republisher/feedback
[INFO] [WallTime: 1411688067.082474] [Client 3] Subscribed to /tf2_web_republisher/result
[INFO] [WallTime: 1411688067.087268] [Client 3] Subscribed to /start/marker/tunneled/update
[INFO] [WallTime: 1411688067.099619] [Client 3] Subscribed to /goal/marker/tunneled/update
[ERROR] [WallTime: 1411687975.205378] [Client 1] [id: call_service:/rosapi/get_param:NaN] call_service InvalidPackageException: Unable to load the manifest for package rosapi. Caused by: rosapi
[ERROR] [WallTime: 1411687975.208080] [Client 2] [id: subscribe:/stock_joint_position:NaN] subscribe: Unable to load the manifest for package std_msgs. Caused by: std_msgs
[INFO] [WallTime: 1411688070.082047] [Client 4] Subscribed to /joint_states
[INFO] [WallTime: 1411688070.086816] [Client 4] Subscribed to /start_joint_states
[INFO] [WallTime: 1411688070.091826] [Client 4] Subscribed to /goal_joint_states
[INFO] [WallTime: 1411688073.298605] Client disconnected. 2 clients total.
[INFO] [WallTime: 1411688073.319465] Client disconnected. 1 clients total.
[INFO] [WallTime: 1411688073.324928] Client disconnected. 0 clients total.
[INFO] [WallTime: 1411688073.753255] Client connected.  1 clients total.
[INFO] [WallTime: 1411688073.754447] Client connected.  2 clients total.
[INFO] [WallTime: 1411688073.755033] Client connected.  3 clients total.
[INFO] [WallTime: 1411688073.762543] [Client 8] Subscribed to /stock_joint_position
[INFO] [WallTime: 1411688073.774825] [Client 6] Subscribed to /tf2_web_republisher/status
[INFO] [WallTime: 1411688073.779468] [Client 6] Subscribed to /tf2_web_republisher/feedback
[INFO] [WallTime: 1411688073.784106] [Client 6] Subscribed to /tf2_web_republisher/result
[INFO] [WallTime: 1411688073.788238] [Client 6] Subscribed to /start/marker/tunneled/update
[INFO] [WallTime: 1411688073.796816] [Client 6] Subscribed to /goal/marker/tunneled/update

Output from rqt_tf_tree: tf_tree_rwt_moveit_notsure_ifcorrect

130s commented 9 years ago

46 fixed this. I have no idea why this issue didn't happen several months ago (@dylanvaughn @garaemon @KazutoMurase your opinions about this if any will be welcomed).