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January 13, 2016 11:17
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| leus@leus-HP-Z620-Workstation:~$ rtmlaunch hrpsys_ros_bridge_tutorials samplerobot.launch | |
| [rtmlaunch] Start omniNames at port 15005 | |
| Wed Jan 13 20:15:03 2016: | |
| Starting omniNames for the first time. | |
| Wrote initial log file. | |
| Read log file successfully. | |
| Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003133332e31312e3231362e3431009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000b731965601004027 | |
| Checkpointing Phase 1: Prepare. | |
| Checkpointing Phase 2: Commit. | |
| Checkpointing completed. | |
| WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. | |
| ... logging to /home/leus/.ros/log/18566702-b9e6-11e5-bf3e-a0481cabf72e/roslaunch-leus-HP-Z620-Workstation-16417.log | |
| Checking log directory for disk usage. This may take awhile. | |
| Press Ctrl-C to interrupt | |
| WARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB. | |
| It's recommended that you use the 'rosclean' command. | |
| started roslaunch server http://leus-HP-Z620-Workstation:52178/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True | |
| * /controller_configuration: [{'group_name': '... | |
| * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ... | |
| * /diagnostic_aggregator/analyzers/computers/path: Computers | |
| * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg... | |
| * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge... | |
| * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys | |
| * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg... | |
| * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'... | |
| * /diagnostic_aggregator/analyzers/mode/path: Mode | |
| * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg... | |
| * /diagnostic_aggregator/analyzers/motor/contains: ['Motor'] | |
| * /diagnostic_aggregator/analyzers/motor/path: Motor | |
| * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg... | |
| * /diagnostic_aggregator/base_path: | |
| * /diagnostic_aggregator/pub_rate: 1.0 | |
| * /robot_description: <?xml version="1.... | |
| * /robot_pose_ekf/debug: False | |
| * /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: 1.11.16 | |
| * /use_sim_time: True | |
| NODES | |
| / | |
| AutoBalancerServiceROSBridge (hrpsys_ros_bridge/AutoBalancerServiceROSBridgeComp) | |
| CollisionDetectorServiceROSBridge (hrpsys_ros_bridge/CollisionDetectorServiceROSBridgeComp) | |
| DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) | |
| EmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp) | |
| ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) | |
| HardEmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp) | |
| HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) | |
| HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) | |
| ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp) | |
| KalmanFilterServiceROSBridge (hrpsys_ros_bridge/KalmanFilterServiceROSBridgeComp) | |
| RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp) | |
| SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) | |
| SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp) | |
| StabilizerServiceROSBridge (hrpsys_ros_bridge/StabilizerServiceROSBridgeComp) | |
| 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 (hrpsys/hrpsys-simulator) | |
| hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) | |
| hrpsys_py (hrpsys_ros_bridge_tutorials/samplerobot_hrpsys_config.py) | |
| hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) | |
| hrpsys_state_publisher (robot_state_publisher/state_publisher) | |
| modelloader (openhrp3/openhrp-model-loader) | |
| robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) | |
| rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) | |
| samplerobot_rviz (rviz/rviz) | |
| 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 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 rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtconnect | |
| 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 rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag sphinxdoc | |
| ROS_MASTER_URI=http://localhost:11311 | |
| core service [/rosout] found | |
| process[modelloader-1]: started with pid [16440] | |
| ready | |
| process[hrpsys-2]: started with pid [16445] | |
| process[hrpsys_py-3]: started with pid [16446] | |
| process[HrpsysSeqStateROSBridge-4]: started with pid [16447] | |
| process[HrpsysJointTrajectoryBridge-5]: started with pid [16448] | |
| process[hrpsys_state_publisher-6]: started with pid [16466] | |
| process[hrpsys_ros_diagnostics-7]: started with pid [16525] | |
| loading /home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node WAIST_LINK0 | |
| Joint node WAIST_P | |
| Segment node WAIST_LINK1 | |
| Joint node WAIST_R | |
| Segment node WAIST_LINK2 | |
| Joint node CHEST | |
| AccelerationSensorgsensor | |
| Gyrogyrometer | |
| Segment node WAIST_LINK3 | |
| VisionSensorVISION_SENSOR1 | |
| VisionSensorVISION_SENSOR2 | |
| Joint node LARM_SHOULDER_P | |
| Segment node LARM_LINK1 | |
| Joint node LARM_SHOULDER_R | |
| Segment node LARM_LINK2 | |
| Joint node LARM_SHOULDER_Y | |
| Segment node LARM_LINK3 | |
| Joint node LARM_ELBOW | |
| Segment node LARM_LINK4 | |
| Joint node LARM_WRIST_Y | |
| Segment node LARM_LINK5 | |
| Joint node LARM_WRIST_P | |
| Segment node LARM_LINK6 | |
| ForceSensorlhsensor | |
| Joint node LARM_WRIST_R | |
| Segment node LARM_LINK7 | |
| Joint node RARM_SHOULDER_P | |
| Segment node RARM_LINK1 | |
| Joint node RARM_SHOULDER_R | |
| Segment node RARM_LINK2 | |
| Joint node RARM_SHOULDER_Y | |
| Segment node RARM_LINK3 | |
| Joint node RARM_ELBOW | |
| Segment node RARM_LINK4 | |
| Joint node RARM_WRIST_Y | |
| Segment node RARM_LINK5 | |
| Joint node RARM_WRIST_P | |
| Segment node RARM_LINK6 | |
| ForceSensorrhsensor | |
| Joint node RARM_WRIST_R | |
| Segment node RARM_LINK7 | |
| Joint node LLEG_HIP_R | |
| Segment node LLEG_LINK1 | |
| Joint node LLEG_HIP_P | |
| Segment node LLEG_LINK2 | |
| Joint node LLEG_HIP_Y | |
| Segment node LLEG_LINK3 | |
| Joint node LLEG_KNEE | |
| Segment node LLEG_LINK4 | |
| Joint node LLEG_ANKLE_P | |
| Segment node LLEG_LINK5 | |
| Joint node LLEG_ANKLE_R | |
| Segment node LLEG_LINK6 | |
| ForceSensorlfsensor | |
| Joint node RLEG_HIP_R | |
| Segment node RLEG_LINK1 | |
| Joint node RLEG_HIP_P | |
| Segment node RLEG_LINK2 | |
| Joint node RLEG_HIP_Y | |
| Segment node RLEG_LINK3 | |
| Joint node RLEG_KNEE | |
| Segment node RLEG_LINK4 | |
| Joint node RLEG_ANKLE_P | |
| Segment node RLEG_LINK5 | |
| Joint node RLEG_ANKLE_R | |
| Segment node RLEG_LINK6 | |
| ForceSensorrfsensor | |
| The model was successfully loaded ! | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint | |
| cache found for /home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| duplicated sensor Id is specified(id = 2, name = lhsensor) | |
| duplicated sensor Id is specified(id = 3, name = rhsensor) | |
| duplicated sensor Id is specified(id = 0, name = gsensor) | |
| duplicated sensor Id is specified(id = 0, name = gyrometer) | |
| duplicated sensor Id is specified(id = 0, name = VISION_SENSOR1) | |
| duplicated sensor Id is specified(id = 1, name = VISION_SENSOR2) | |
| duplicated sensor Id is specified(id = 0, name = lfsensor) | |
| duplicated sensor Id is specified(id = 1, name = rfsensor) | |
| [ INFO] [1452683706.133339219]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done | |
| process[diagnostic_aggregator-8]: started with pid [16544] | |
| process[hrpsys_profile-9]: started with pid [16574] | |
| process[sensor_ros_bridge_connect-10]: started with pid [16583] | |
| configuration ORB with localhost:15005 | |
| [hrpsys.py] waiting ModelLoader | |
| [hrpsys.py] start hrpsys | |
| [hrpsys.py] finding RTCManager and RobotHardware | |
| process[rtmlaunch_hrpsys_ros_bridge-11]: started with pid [16589] | |
| process[SequencePlayerServiceROSBridge-12]: started with pid [16594] | |
| process[DataLoggerServiceROSBridge-13]: started with pid [16611] | |
| process[ForwardKinematicsServiceROSBridge-14]: started with pid [16647] | |
| process[StateHolderServiceROSBridge-15]: started with pid [16700] | |
| process[AutoBalancerServiceROSBridge-16]: started with pid [16757] | |
| process[StabilizerServiceROSBridge-17]: started with pid [16792] | |
| [sensor_ros_bridge_connect.py] start | |
| configuration ORB with localhost:15005 | |
| process[KalmanFilterServiceROSBridge-18]: started with pid [16836] | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node BODY | |
| The model was successfully loaded ! | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint | |
| process[CollisionDetectorServiceROSBridge-19]: started with pid [16865] | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node WAIST_LINK0 | |
| Joint node WAIST_P | |
| Segment node WAIST_LINK1 | |
| Joint node WAIST_R | |
| Segment node WAIST_LINK2 | |
| Joint node CHEST | |
| AccelerationSensorgsensor | |
| Gyrogyrometer | |
| Segment node WAIST_LINK3 | |
| VisionSensorVISION_SENSOR1 | |
| VisionSensorVISION_SENSOR2 | |
| Joint node LARM_SHOULDER_P | |
| Segment node LARM_LINK1 | |
| Joint node LARM_SHOULDER_R | |
| Segment node LARM_LINK2 | |
| Joint node LARM_SHOULDER_Y | |
| Segment node LARM_LINK3 | |
| Joint node LARM_ELBOW | |
| Segment node LARM_LINK4 | |
| Joint node LARM_WRIST_Y | |
| Segment node LARM_LINK5 | |
| Joint node LARM_WRIST_P | |
| Segment node LARM_LINK6 | |
| ForceSensorlhsensor | |
| Joint node LARM_WRIST_R | |
| Segment node LARM_LINK7 | |
| Joint node RARM_SHOULDER_P | |
| Segment node RARM_LINK1 | |
| Joint node RARM_SHOULDER_R | |
| Segment node RARM_LINK2 | |
| Joint node RARM_SHOULDER_Y | |
| Segment node RARM_LINK3 | |
| Joint node RARM_ELBOW | |
| Segment node RARM_LINK4 | |
| Joint node RARM_WRIST_Y | |
| Segment node RARM_LINK5 | |
| Joint node RARM_WRIST_P | |
| Segment node RARM_LINK6 | |
| ForceSensorrhsensor | |
| Joint node RARM_WRIST_R | |
| Segment node RARM_LINK7 | |
| Joint node LLEG_HIP_R | |
| Segment node LLEG_LINK1 | |
| Joint node LLEG_HIP_P | |
| Segment node LLEG_LINK2 | |
| Joint node LLEG_HIP_Y | |
| Segment node LLEG_LINK3 | |
| Joint node LLEG_KNEE | |
| Segment node LLEG_LINK4 | |
| Joint node LLEG_ANKLE_P | |
| Segment node LLEG_LINK5 | |
| Joint node LLEG_ANKLE_R | |
| Segment node LLEG_LINK6 | |
| ForceSensorlfsensor | |
| Joint node RLEG_HIP_R | |
| Segment node RLEG_LINK1 | |
| Joint node RLEG_HIP_P | |
| Segment node RLEG_LINK2 | |
| Joint node RLEG_HIP_Y | |
| Segment node RLEG_LINK3 | |
| Joint node RLEG_KNEE | |
| Segment node RLEG_LINK4 | |
| Joint node RLEG_ANKLE_P | |
| Segment node RLEG_LINK5 | |
| Joint node RLEG_ANKLE_R | |
| Segment node RLEG_LINK6 | |
| ForceSensorrfsensor | |
| The model was successfully loaded ! | |
| process[collision_state-20]: started with pid [16899] | |
| /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: 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. | |
| pub = rospy.Publisher('diagnostics', DiagnosticArray) | |
| process[ImpedanceControllerServiceROSBridge-21]: started with pid [16928] | |
| process[RemoveForceSensorLinkOffsetServiceROSBridge-22]: started with pid [16939] | |
| process[SoftErrorLimiterServiceROSBridge-23]: started with pid [16972] | |
| process[EmergencyStopperServiceROSBridge-24]: started with pid [17005] | |
| process[HardEmergencyStopperServiceROSBridge-25]: started with pid [17035] | |
| /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: 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. | |
| pub = rospy.Publisher('diagnostics', DiagnosticArray) | |
| process[robot_pose_ekf-26]: started with pid [17082] | |
| process[base_footprint_rootlink-27]: started with pid [17120] | |
| [ WARN] [1452683706.630271994]: [HrpsysSeqStateROSBridge] use_hrpsys_time | |
| [rtmlaunch] starting... /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch | |
| [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 | |
| [rtmlaunch] SIMULATOR_NAME SampleRobot(Robot)0 | |
| process[samplerobot_rviz-28]: started with pid [17166] | |
| [ INFO] [1452683706.675907857]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 | |
| cache found for /home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint | |
| cache found for /home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [rtmlaunch] check connection/activation | |
| duplicated sensor Id is specified(id = 2, name = lhsensor) | |
| duplicated sensor Id is specified(id = 3, name = rhsensor) | |
| duplicated sensor Id is specified(id = 0, name = gsensor) | |
| duplicated sensor Id is specified(id = 0, name = gyrometer) | |
| duplicated sensor Id is specified(id = 0, name = VISION_SENSOR1) | |
| duplicated sensor Id is specified(id = 1, name = VISION_SENSOR2) | |
| duplicated sensor Id is specified(id = 0, name = lfsensor) | |
| duplicated sensor Id is specified(id = 1, name = rfsensor) | |
| 0 physical force sensor : lfsensor | |
| 1 physical force sensor : rfsensor | |
| 2 physical force sensor : lhsensor | |
| 3 physical force sensor : rhsensor | |
| 0 acceleration sensor : gsensor | |
| 0 rate sensor : gyrometer | |
| [HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_ANKLE_R WAIST | |
| [HrpsysSeqStateROSBridge0] target = LLEG_LINK6, sensor_name = lfsensor | |
| [HrpsysSeqStateROSBridge0] localPos = [0, 0, -0.07][m] | |
| [HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_ANKLE_R WAIST | |
| [HrpsysSeqStateROSBridge0] target = RLEG_LINK6, sensor_name = rfsensor | |
| [HrpsysSeqStateROSBridge0] localPos = [0, 0, -0.07][m] | |
| [HrpsysSeqStateROSBridge0] End Effector [larm]LARM_WRIST_P CHEST | |
| [HrpsysSeqStateROSBridge0] target = LARM_LINK6, sensor_name = lhsensor | |
| [HrpsysSeqStateROSBridge0] localPos = [0, 0, -0.12][m] | |
| [HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_WRIST_P CHEST | |
| [HrpsysSeqStateROSBridge0] target = RARM_LINK6, sensor_name = rhsensor | |
| [HrpsysSeqStateROSBridge0] localPos = [0, 0, -0.12][m] | |
| [ INFO] [1452683706.697566591]: [HrpsysSeqStateROSBridge] Loaded SampleRobot | |
| [ INFO] [1452683706.697730334]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done | |
| [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30 | |
| [hrpsys.py] wait for RTCmanager : None | |
| [hrpsys.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e94cb0> ( timeout 0 < 10) | |
| [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e94cb0> isActive? = True | |
| [hrpsys.py] simulation_mode : True | |
| [hrpsys.py] bodyinfo URL = file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| loading file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node WAIST_LINK0 | |
| Joint node WAIST_P | |
| Segment node WAIST_LINK1 | |
| Joint node WAIST_R | |
| Segment node WAIST_LINK2 | |
| Joint node CHEST | |
| AccelerationSensorgsensor | |
| Gyrogyrometer | |
| Segment node WAIST_LINK3 | |
| VisionSensorVISION_SENSOR1 | |
| VisionSensorVISION_SENSOR2 | |
| Joint node LARM_SHOULDER_P | |
| Segment node LARM_LINK1 | |
| Joint node LARM_SHOULDER_R | |
| Segment node LARM_LINK2 | |
| Joint node LARM_SHOULDER_Y | |
| Segment node LARM_LINK3 | |
| Joint node LARM_ELBOW | |
| Segment node LARM_LINK4 | |
| Joint node LARM_WRIST_Y | |
| Segment node LARM_LINK5 | |
| Joint node LARM_WRIST_P | |
| Segment node LARM_LINK6 | |
| ForceSensorlhsensor | |
| Joint node LARM_WRIST_R | |
| Segment node LARM_LINK7 | |
| Joint node RARM_SHOULDER_P | |
| Segment node RARM_LINK1 | |
| Joint node RARM_SHOULDER_R | |
| Segment node RARM_LINK2 | |
| Joint node RARM_SHOULDER_Y | |
| Segment node RARM_LINK3 | |
| Joint node RARM_ELBOW | |
| Segment node RARM_LINK4 | |
| Joint node RARM_WRIST_Y | |
| Segment node RARM_LINK5 | |
| Joint node RARM_WRIST_P | |
| Segment node RARM_LINK6 | |
| ForceSensorrhsensor | |
| Joint node RARM_WRIST_R | |
| Segment node RARM_LINK7 | |
| Joint node LLEG_HIP_R | |
| Segment node LLEG_LINK1 | |
| Joint node LLEG_HIP_P | |
| Segment node LLEG_LINK2 | |
| Joint node LLEG_HIP_Y | |
| Segment node LLEG_LINK3 | |
| Joint node LLEG_KNEE | |
| Segment node LLEG_LINK4 | |
| Joint node LLEG_ANKLE_P | |
| Segment node LLEG_LINK5 | |
| Joint node LLEG_ANKLE_R | |
| Segment node LLEG_LINK6 | |
| ForceSensorlfsensor | |
| Joint node RLEG_HIP_R | |
| Segment node RLEG_LINK1 | |
| Joint node RLEG_HIP_P | |
| Segment node RLEG_LINK2 | |
| Joint node RLEG_HIP_Y | |
| Segment node RLEG_LINK3 | |
| Joint node RLEG_KNEE | |
| Segment node RLEG_LINK4 | |
| Joint node RLEG_ANKLE_P | |
| Segment node RLEG_LINK5 | |
| Joint node RLEG_ANKLE_R | |
| Segment node RLEG_LINK6 | |
| ForceSensorrfsensor | |
| The model was successfully loaded ! | |
| [hrpsys.py] creating components | |
| [hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq") | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e70ab8> (315.7.0) | |
| [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f1df8e2d200> | |
| [hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh") | |
| [sh] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py:181: 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. | |
| pub_diagnostics = rospy.Publisher('diagnostics', DiagnosticArray) | |
| /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py:182: 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. | |
| pub_collision = rospy.Publisher('collision_detector_marker_array', MarkerArray) | |
| configuration ORB with localhost:15005 | |
| [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e9f908> (315.7.0) | |
| [WARN] [WallTime: 1452683707.283794] [0.000000] Could not found CollisionDetector(co), waiting... | |
| [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f1df8e2f098> | |
| [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") | |
| [fk] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e391b8> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f1df8ea4fc8> | |
| [hrpsys.py] eval : [self.tf, self.tf_svc, self.tf_version] = self.createComp("TorqueFilter","tf") | |
| [tf] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e2e1b8> (315.7.0) | |
| ("can't find a service named", 'service0') | |
| [hrpsys.py] eval : [self.kf, self.kf_svc, self.kf_version] = self.createComp("KalmanFilter","kf") | |
| [kf] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [kf] Q_angle=0.001, Q_rate=0.003, R_angle=1000 | |
| [hrpsys.py] create Comp -> KalmanFilter : <hrpsys.rtm.RTcomponent instance at 0x7f1df8ea0830> (315.7.0) | |
| [hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7f1df8e31a28> | |
| [hrpsys.py] eval : [self.vs, self.vs_svc, self.vs_version] = self.createComp("VirtualForceSensor","vs") | |
| [vs] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7f1df8ea4c68> (315.7.0) | |
| [hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7f1df8e2ac20> | |
| [hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo") | |
| [rmfo] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e9f368> (315.7.0) | |
| [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f1df8e9acb0> | |
| [hrpsys.py] eval : [self.es, self.es_svc, self.es_version] = self.createComp("EmergencyStopper","es") | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [es] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e312d8> (315.7.0) | |
| [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f1df8e2de60> | |
| [hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic") | |
| [ic] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [ic] force sensor ports | |
| [ic] name = lfsensor | |
| [ic] name = rfsensor | |
| [ic] name = lhsensor | |
| [ic] name = rhsensor | |
| [ic] End Effector [lleg]LLEG_ANKLE_R WAIST | |
| [ic] target = LLEG_ANKLE_R, base = WAIST | |
| [ic] localPos = [0, 0, -0.07][m] | |
| [ic] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [ic] End Effector [rleg]RLEG_ANKLE_R WAIST | |
| [ic] target = RLEG_ANKLE_R, base = WAIST | |
| [ic] localPos = [0, 0, -0.07][m] | |
| [ic] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [ic] End Effector [larm]LARM_WRIST_P CHEST | |
| [ic] target = LARM_WRIST_P, base = CHEST | |
| [ic] localPos = [0, 0, -0.12][m] | |
| [ic] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [ic] End Effector [rarm]RARM_WRIST_P CHEST | |
| [ic] target = RARM_WRIST_P, base = CHEST | |
| [ic] localPos = [0, 0, -0.12][m] | |
| [ic] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [ic] Add impedance params | |
| [ic] sensor = lfsensor, sensor-link = LLEG_ANKLE_R, ee_name = lleg, ee-link = LLEG_ANKLE_R | |
| [ic] sensor = rfsensor, sensor-link = RLEG_ANKLE_R, ee_name = rleg, ee-link = RLEG_ANKLE_R | |
| [ic] sensor = lhsensor, sensor-link = LARM_WRIST_P, ee_name = larm, ee-link = LARM_WRIST_P | |
| [ic] sensor = rhsensor, sensor-link = RARM_WRIST_P, ee_name = rarm, ee-link = RARM_WRIST_P | |
| [hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e9a830> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f1df8e32c68> | |
| [hrpsys.py] eval : [self.abc, self.abc_svc, self.abc_version] = self.createComp("AutoBalancer","abc") | |
| [abc] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [abc] End Effector [lleg] | |
| [abc] target = LLEG_ANKLE_R, base = WAIST | |
| [abc] offset_pos = [0, 0, -0.07][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [rleg] | |
| [abc] target = RLEG_ANKLE_R, base = WAIST | |
| [abc] offset_pos = [0, 0, -0.07][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [larm] | |
| [abc] target = LARM_WRIST_P, base = CHEST | |
| [abc] offset_pos = [0, 0, -0.12][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [rarm] | |
| [abc] target = RARM_WRIST_P, base = CHEST | |
| [abc] offset_pos = [0, 0, -0.12][m] | |
| [abc] has_toe_joint = false | |
| [abc] abc_leg_offset = [0, 0.09, 0][m] | |
| [abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] force sensor ports (4) | |
| [abc] name = ref_lfsensor | |
| [abc] name = ref_rfsensor | |
| [abc] name = ref_lhsensor | |
| [abc] name = ref_rhsensor | |
| [abc] name = lfsensor | |
| [abc] name = rfsensor | |
| [abc] name = lhsensor | |
| [abc] name = rhsensor | |
| [abc] limbCOPOffset ports (4) | |
| [abc] name = limbCOPOffset_lfsensor | |
| [abc] name = limbCOPOffset_rfsensor | |
| [abc] name = limbCOPOffset_lhsensor | |
| [abc] name = limbCOPOffset_rhsensor | |
| [hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e42dd0> (315.7.0) | |
| [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation | |
| [sensor_ros_bridge_connect.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f2e228b9cf8> ( timeout 0 < 10) | |
| [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f2e228b9cf8> isActive? = True | |
| [hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7f1df8e3a998> | |
| [hrpsys.py] eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st") | |
| [st] onInitialize() | |
| [sensor_ros_bridge_connect.py] simulation_mode : True | |
| [sensor_ros_bridge_connect.py] bodyinfo URL = file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [sensor_ros_bridge_connect.py] connect gsensor SampleRobot(Robot)0.gsensor HrpsysSeqStateROSBridge0.gsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.gsensor - HrpsysSeqStateROSBridge0.gsensor | |
| [sensor_ros_bridge_connect.py] connect gyrometer SampleRobot(Robot)0.gyrometer HrpsysSeqStateROSBridge0.gyrometer | |
| [rtm.py] Connect SampleRobot(Robot)0.gyrometer - HrpsysSeqStateROSBridge0.gyrometer | |
| [sensor_ros_bridge_connect.py] connect lhsensor SampleRobot(Robot)0.lhsensor HrpsysSeqStateROSBridge0.lhsensor | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [rtm.py] Connect SampleRobot(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor | |
| [st] force sensor ports (4) | |
| [sensor_ros_bridge_connect.py] connect lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor | |
| [rtm.py] Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor | |
| [st] name = lfsensor | |
| [sensor_ros_bridge_connect.py] connect lhsensor sh.lhsensorOut HrpsysSeqStateROSBridge0.ref_lhsensor | |
| [rtm.py] Connect sh.lhsensorOut - HrpsysSeqStateROSBridge0.ref_lhsensor | |
| [sensor_ros_bridge_connect.py] connect rhsensor SampleRobot(Robot)0.rhsensor HrpsysSeqStateROSBridge0.rhsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rhsensor - HrpsysSeqStateROSBridge0.rhsensor | |
| [st] name = rfsensor | |
| [sensor_ros_bridge_connect.py] connect rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor | |
| [rtm.py] Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor | |
| [st] name = lhsensor | |
| [sensor_ros_bridge_connect.py] connect rhsensor sh.rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor | |
| [rtm.py] Connect sh.rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor | |
| [sensor_ros_bridge_connect.py] connect lfsensor SampleRobot(Robot)0.lfsensor HrpsysSeqStateROSBridge0.lfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor | |
| [st] name = rhsensor | |
| [st] limbCOPOffset ports (4) | |
| [sensor_ros_bridge_connect.py] connect lfsensor rmfo.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor | |
| [rtm.py] Connect rmfo.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor | |
| [st] name = limbCOPOffset_lfsensor | |
| [sensor_ros_bridge_connect.py] connect lfsensor sh.lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor | |
| [rtm.py] Connect sh.lfsensorOut - HrpsysSeqStateROSBridge0.ref_lfsensor | |
| [st] name = limbCOPOffset_rfsensor | |
| [sensor_ros_bridge_connect.py] connect rfsensor SampleRobot(Robot)0.rfsensor HrpsysSeqStateROSBridge0.rfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rfsensor - HrpsysSeqStateROSBridge0.rfsensor | |
| [st] name = limbCOPOffset_lhsensor | |
| [sensor_ros_bridge_connect.py] connect rfsensor rmfo.off_rfsensor HrpsysSeqStateROSBridge0.off_rfsensor | |
| [rtm.py] Connect rmfo.off_rfsensor - HrpsysSeqStateROSBridge0.off_rfsensor | |
| [st] name = limbCOPOffset_rhsensor | |
| [st] End Effector [lleg] | |
| [st] target = LLEG_ANKLE_R, base = WAIST, sensor_name = lfsensor | |
| [st] offset_pos = [0, 0, -0.07][m] | |
| [st] End Effector [rleg] | |
| [st] target = RLEG_ANKLE_R, base = WAIST, sensor_name = rfsensor | |
| [st] offset_pos = [0, 0, -0.07][m] | |
| [st] End Effector [larm] | |
| [st] target = LARM_WRIST_P, base = CHEST, sensor_name = lhsensor | |
| [st] offset_pos = [0, 0, -0.12][m] | |
| [st] End Effector [rarm] | |
| [st] target = RARM_WRIST_P, base = CHEST, sensor_name = rhsensor | |
| [st] offset_pos = [0, 0, -0.12][m] | |
| [sensor_ros_bridge_connect.py] connect rfsensor sh.rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor | |
| [rtm.py] Connect sh.rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor | |
| [hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e9fc68> (315.7.0) | |
| [hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7f1df8d7f1b8> | |
| [hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co") | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [co] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [co] prop[collision_pair] ->RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R | |
| [co] check collisions between RARM_WRIST_P and WAIST | |
| [co] check collisions between LARM_WRIST_P and WAIST | |
| [co] check collisions between RARM_WRIST_P and RLEG_HIP_R | |
| [co] check collisions between LARM_WRIST_P and LLEG_HIP_R | |
| [co] check collisions between RARM_WRIST_R and RLEG_HIP_R | |
| [co] check collisions between LARM_WRIST_R and LLEG_HIP_R | |
| [hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e31f38> (315.7.0) | |
| [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x7f1df8e2dab8> | |
| [hrpsys.py] eval : [self.tc, self.tc_svc, self.tc_version] = self.createComp("TorqueController","tc") | |
| [tc] onInitialize() | |
| file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [tc]torque_controller_params is not correct number, 0. Use default controller. | |
| [tc]use TwoDofController | |
| [tc]size of torque_controller_min_max_dq 0 is not correct number 58. Use default values. | |
| [hrpsys.py] create Comp -> TorqueController : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e2a950> (315.7.0) | |
| [hrpsys.py] create CompSvc -> TorqueController Service : <OpenHRP._objref_TorqueControllerService instance at 0x7f1df8e2ddd0> | |
| [hrpsys.py] eval : [self.te, self.te_svc, self.te_version] = self.createComp("ThermoEstimator","te") | |
| [te] : onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [te] : ambient temperature: 25 | |
| [te] [WARN]: size of motorHeatParams is 0, not equal to 2 * 29 | |
| [te] [WARN]: size of error2tau is 0, not equal to 29 | |
| [hrpsys.py] create Comp -> ThermoEstimator : <hrpsys.rtm.RTcomponent instance at 0x7f1df8ea05f0> (315.7.0) | |
| ("can't find a service named", 'service0') | |
| [hrpsys.py] eval : [self.tl, self.tl_svc, self.tl_version] = self.createComp("ThermoLimiter","tl") | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [tl] : onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [tl] [WARN]: size of motor_temperature_limit is 0, not equal to 29 | |
| [tl] : ambient temperature: 25 | |
| [tl] [WARN]: size of motor_heat_param is 0, not equal to 2 * 29 | |
| [hrpsys.py] create Comp -> ThermoLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e42440> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ThermoLimiter Service : <OpenHRP._objref_ThermoLimiterService instance at 0x7f1df8e2acb0> | |
| [hrpsys.py] eval : [self.hes, self.hes_svc, self.hes_version] = self.createComp("EmergencyStopper","hes") | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [hes] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f1df8ea4710> (315.7.0) | |
| [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f1df8e320e0> | |
| [hrpsys.py] eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el") | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [el] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [el] Do not load joint limit table | |
| [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f1df8e9def0> (315.7.0) | |
| [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f1df8e2a2d8> | |
| [hrpsys.py] eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log") | |
| [log] onInitialize() | |
| [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f1df8ea0cf8> (315.7.0) | |
| [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f1df8e9dbd8> | |
| [hrpsys.py] connecting components | |
| [rtm.py] Connect sh.qOut - es.qRef | |
| [rtm.py] Connect es.q - ic.qRef | |
| [rtm.py] Connect ic.q - abc.qRef | |
| [rtm.py] Connect abc.q - st.qRef | |
| [rtm.py] Connect st.q - co.qRef | |
| [rtm.py] Connect co.q - tc.qRef | |
| [rtm.py] Connect tc.q - hes.qRef | |
| [sensor_ros_bridge_connect-10] process has finished cleanly | |
| log file: /home/leus/.ros/log/18566702-b9e6-11e5-bf3e-a0481cabf72e/sensor_ros_bridge_connect-10*.log | |
| [rtm.py] Connect hes.q - el.qRef | |
| [rtm.py] Connect el.q - HGcontroller0.qIn | |
| [rtm.py] Connect HGcontroller0.qOut - SampleRobot(Robot)0.qRef | |
| [rtm.py] Connect SampleRobot(Robot)0.gsensor - kf.acc | |
| [rtm.py] Connect SampleRobot(Robot)0.gyrometer - kf.rate | |
| [rtm.py] Connect SampleRobot(Robot)0.q - kf.qCurrent | |
| [rtm.py] Connect SampleRobot(Robot)0.servoState - te.servoStateIn | |
| [rtm.py] Connect te.servoStateOut - el.servoStateIn | |
| [rtm.py] Connect SampleRobot(Robot)0.q - sh.currentQIn | |
| [rtm.py] Connect SampleRobot(Robot)0.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 seq.lhsensorRef - sh.lhsensorIn | |
| [rtm.py] Connect seq.rhsensorRef - sh.rhsensorIn | |
| [rtm.py] Connect seq.lfsensorRef - sh.lfsensorIn | |
| [rtm.py] Connect seq.rfsensorRef - sh.rfsensorIn | |
| [rtm.py] Connect kf.rpy - st.rpy | |
| [rtm.py] Connect sh.zmpOut - abc.zmpIn | |
| [rtm.py] Connect sh.basePosOut - abc.basePosIn | |
| [rtm.py] Connect sh.baseRpyOut - abc.baseRpyIn | |
| [rtm.py] Connect sh.optionalDataOut - abc.optionalData | |
| [rtm.py] Connect abc.zmpOut - st.zmpRef | |
| [rtm.py] Connect abc.baseRpyOut - st.baseRpyIn | |
| [rtm.py] Connect abc.basePosOut - st.basePosIn | |
| [rtm.py] Connect abc.accRef - kf.accRef | |
| [rtm.py] Connect abc.contactStates - st.contactStates | |
| [rtm.py] Connect abc.controlSwingSupportTime - st.controlSwingSupportTime | |
| [rtm.py] Connect SampleRobot(Robot)0.q - st.qCurrent | |
| [rtm.py] Connect seq.qRef - st.qRefSeq | |
| [rtm.py] Connect abc.walkingStates - st.walkingStates | |
| [rtm.py] Connect abc.sbpCogOffset - st.sbpCogOffset | |
| [rtm.py] Connect st.emergencySignal - es.emergencySignal | |
| [rtm.py] Connect st.emergencySignal - abc.emergencySignal | |
| [rtm.py] Connect abc.lhsensor - st.lhsensorRef | |
| [rtm.py] Connect sh.lhsensorOut - es.lhsensorIn | |
| [rtm.py] Connect es.lhsensorOut - ic.ref_lhsensorIn | |
| [rtm.py] Connect es.lhsensorOut - abc.ref_lhsensor | |
| [rtm.py] Connect abc.limbCOPOffset_lhsensor - st.limbCOPOffset_lhsensor | |
| [rtm.py] Connect abc.rhsensor - st.rhsensorRef | |
| [rtm.py] Connect sh.rhsensorOut - es.rhsensorIn | |
| [rtm.py] Connect es.rhsensorOut - ic.ref_rhsensorIn | |
| [rtm.py] Connect es.rhsensorOut - abc.ref_rhsensor | |
| [rtm.py] Connect abc.limbCOPOffset_rhsensor - st.limbCOPOffset_rhsensor | |
| [rtm.py] Connect abc.lfsensor - st.lfsensorRef | |
| [rtm.py] Connect sh.lfsensorOut - es.lfsensorIn | |
| [rtm.py] Connect es.lfsensorOut - ic.ref_lfsensorIn | |
| [rtm.py] Connect es.lfsensorOut - abc.ref_lfsensor | |
| [rtm.py] Connect abc.limbCOPOffset_lfsensor - st.limbCOPOffset_lfsensor | |
| [rtm.py] Connect abc.rfsensor - st.rfsensorRef | |
| [rtm.py] Connect sh.rfsensorOut - es.rfsensorIn | |
| [rtm.py] Connect es.rfsensorOut - ic.ref_rfsensorIn | |
| [rtm.py] Connect es.rfsensorOut - abc.ref_rfsensor | |
| [rtm.py] Connect abc.limbCOPOffset_rfsensor - st.limbCOPOffset_rfsensor | |
| [rtm.py] Connect kf.rpy - rmfo.rpy | |
| [rtm.py] Connect SampleRobot(Robot)0.q - rmfo.qCurrent | |
| [rtm.py] Connect SampleRobot(Robot)0.lhsensor - rmfo.lhsensor | |
| [rtm.py] Connect rmfo.off_lhsensor - ic.lhsensor | |
| [rtm.py] Connect rmfo.off_lhsensor - st.lhsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rhsensor - rmfo.rhsensor | |
| [rtm.py] Connect rmfo.off_rhsensor - ic.rhsensor | |
| [rtm.py] Connect rmfo.off_rhsensor - st.rhsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.lfsensor - rmfo.lfsensor | |
| [rtm.py] Connect rmfo.off_lfsensor - ic.lfsensor | |
| [rtm.py] Connect rmfo.off_lfsensor - st.lfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rfsensor - rmfo.rfsensor | |
| [rtm.py] Connect rmfo.off_rfsensor - ic.rfsensor | |
| [rtm.py] Connect rmfo.off_rfsensor - st.rfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.q - ic.qCurrent | |
| [rtm.py] Connect sh.basePosOut - ic.basePosIn | |
| [rtm.py] Connect sh.baseRpyOut - ic.baseRpyIn | |
| [rtm.py] Connect SampleRobot(Robot)0.tau - tf.tauIn | |
| [rtm.py] Connect SampleRobot(Robot)0.q - tf.qCurrent | |
| [rtm.py] Connect SampleRobot(Robot)0.q - vs.qCurrent | |
| [rtm.py] Connect tf.tauOut - vs.tauIn | |
| [rtm.py] Connect SampleRobot(Robot)0.q - co.qCurrent | |
| [rtm.py] Connect SampleRobot(Robot)0.servoState - co.servoStateIn | |
| [rtm.py] Connect SampleRobot(Robot)0.q - te.qCurrentIn | |
| [rtm.py] Connect sh.qOut - te.qRefIn | |
| [rtm.py] Connect tf.tauOut - te.tauIn | |
| [rtm.py] Connect te.tempOut - tl.tempIn | |
| [rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30 | |
| [rtm.py] Connect SampleRobot(Robot)0.q - tc.qCurrent | |
| [rtm.py] Connect tf.tauOut - tc.tauCurrent | |
| [rtm.py] Connect tl.tauMax - tc.tauMax | |
| [rtm.py] Connect SampleRobot(Robot)0.q - el.qCurrent | |
| [rtm.py] Connect SampleRobot(Robot)0.servoState - es.servoStateIn | |
| [hrpsys.py] activating components | |
| [rtmlaunch] Connected from localhost:15005/SampleRobot(Robot)0.rtc:q | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/SampleRobot(Robot)0.rtc:tau | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [fk] onActivated(1000) | |
| [tf] onActivated(1000) | |
| [kf] onActivated(1000) | |
| [vs] onActivated(1000) | |
| [rmfo] onActivated(1000) | |
| [es] onActivated(1000) | |
| [ic] onActivated(1000) | |
| [rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 0 /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} | |
| [abc] onActivated(1000) | |
| [st] onActivated(1000) | |
| [co] onActivated(1000) | |
| [tc] onActivated(1000) | |
| [te] : onActivated(1000) | |
| [tl] : onActivated(1000) | |
| [hes] onActivated(1000) | |
| [el] onActivated(1000) | |
| [hrpsys.py] setup logger | |
| [log] Log max length is set to 4000 | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to SampleRobot(Robot)0_q | |
| [rtm.py] Connect SampleRobot(Robot)0.q - log.SampleRobot(Robot)0_q | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = dq to SampleRobot(Robot)0_dq | |
| [rtm.py] Connect SampleRobot(Robot)0.dq - log.SampleRobot(Robot)0_dq | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tau to SampleRobot(Robot)0_tau | |
| [rtm.py] Connect SampleRobot(Robot)0.tau - log.SampleRobot(Robot)0_tau | |
| [hrpsys.py] sensor names for DataLogger | |
| [INFO] [WallTime: 1452683708.289705] [0.000000] bodyinfo URL = file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [hrpsys.py] setupLogger : record type = TimedAcceleration3D, name = gsensor to SampleRobot(Robot)0_gsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.gsensor - log.SampleRobot(Robot)0_gsensor | |
| [hrpsys.py] setupLogger : record type = TimedAngularVelocity3D, name = gyrometer to SampleRobot(Robot)0_gyrometer | |
| [rtm.py] Connect SampleRobot(Robot)0.gyrometer - log.SampleRobot(Robot)0_gyrometer | |
| [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} | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensor to SampleRobot(Robot)0_lhsensor | |
| [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} | |
| [rtm.py] Connect SampleRobot(Robot)0.lhsensor - log.SampleRobot(Robot)0_lhsensor | |
| [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] Connected from localhost:15005/abc.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} | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensor to SampleRobot(Robot)0_rhsensor | |
| [rtmlaunch] Connected from localhost:15005/abc.rtc:contactStates | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:refContactStates | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtm.py] Connect SampleRobot(Robot)0.rhsensor - log.SampleRobot(Robot)0_rhsensor | |
| [rtmlaunch] Connected from localhost:15005/abc.rtc:controlSwingSupportTime | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:controlSwingSupportTime | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensor to SampleRobot(Robot)0_lfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.lfsensor - log.SampleRobot(Robot)0_lfsensor | |
| [rtmlaunch] Connected from localhost:15005/kf.rtc:rpy | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseRpy | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/st.rtc:zmp | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rszmp | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/st.rtc:refCapturePoint | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsrefCapturePoint | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/st.rtc:actCapturePoint | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsactCapturePoint | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/st.rtc:actContactStates | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:actContactStates | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/AutoBalancerServiceROSBridge.rtc:AutoBalancerService | |
| [rtmlaunch] to localhost:15005/abc.rtc:AutoBalancerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/StabilizerServiceROSBridge.rtc:StabilizerService | |
| [rtmlaunch] to localhost:15005/st.rtc:StabilizerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensor to SampleRobot(Robot)0_rfsensor | |
| [rtmlaunch] Connected from localhost:15005/KalmanFilterServiceROSBridge.rtc:KalmanFilterService | |
| [rtmlaunch] to localhost:15005/kf.rtc:KalmanFilterService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/st.rtc:COPInfo | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsCOPInfo | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/CollisionDetectorServiceROSBridge.rtc:CollisionDetectorService | |
| [rtmlaunch] to localhost:15005/co.rtc:CollisionDetectorService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtm.py] Connect SampleRobot(Robot)0.rfsensor - log.SampleRobot(Robot)0_rfsensor | |
| [rtmlaunch] Connected from localhost:15005/ImpedanceControllerServiceROSBridge.rtc:ImpedanceControllerService | |
| [rtmlaunch] to localhost:15005/ic.rtc:ImpedanceControllerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/RemoveForceSensorLinkOffsetServiceROSBridge.rtc:RemoveForceSensorLinkOffsetService | |
| [rtmlaunch] to localhost:15005/rmfo.rtc:RemoveForceSensorLinkOffsetService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/SoftErrorLimiterServiceROSBridge.rtc:SoftErrorLimiterService | |
| [rtmlaunch] to localhost:15005/el.rtc:SoftErrorLimiterService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/el.rtc:servoStateOut | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:servoState | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = rpy to kf_rpy | |
| [rtmlaunch] Connected from localhost:15005/es.rtc:emergencyMode | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:emergencyMode | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/EmergencyStopperServiceROSBridge.rtc:EmergencyStopperService | |
| [rtmlaunch] to localhost:15005/es.rtc:EmergencyStopperService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/HardEmergencyStopperServiceROSBridge.rtc:EmergencyStopperService | |
| [rtmlaunch] to localhost:15005/hes.rtc:EmergencyStopperService | |
| [rtmlaunch] with [rtm.py] Connect kf.rpy - log.kf_rpy | |
| {'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 | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc | |
| [ INFO] [1452683708.500494583, 2.029999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0) | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/AutoBalancerServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/StabilizerServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/KalmanFilterServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetectorServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/ImpedanceControllerServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive [ INFO] [1452683708.503134983, 2.037999999]: ADD_GROUP: rarm (/rarm_controller) | |
| /localhost:15005/RemoveForceSensorLinkOffsetServiceROSBridge.rtc | |
| [ INFO] [1452683708.503182909, 2.037999999]: JOINT: RARM_SHOULDER_P RARM_SHOULDER_R RARM_SHOULDER_Y RARM_ELBOW RARM_WRIST_Y RARM_WRIST_P | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/SoftErrorLimiterServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/EmergencyStopperServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/HardEmergencyStopperServiceROSBridge.rtc | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut | |
| [rtm.py] Connect sh.qOut - log.sh_qOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut | |
| [rtm.py] Connect sh.tqOut - log.sh_tqOut | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut | |
| [rtm.py] Connect sh.basePosOut - log.sh_basePosOut | |
| [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut | |
| [rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut | |
| [rtm.py] Connect sh.zmpOut - log.sh_zmpOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to ic_q | |
| [rtm.py] Connect ic.q - log.ic_q | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to abc_zmpOut | |
| [rtm.py] Connect abc.zmpOut - log.abc_zmpOut | |
| [addJointGroup] group name = rarm | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = baseTformOut to abc_baseTformOut | |
| [rtm.py] Connect abc.baseTformOut - log.abc_baseTformOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to abc_q | |
| [rtm.py] Connect abc.q - log.abc_q | |
| [hrpsys.py] setupLogger : record type = TimedBooleanSeq, name = contactStates to abc_contactStates | |
| [rtm.py] Connect abc.contactStates - log.abc_contactStates | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = controlSwingSupportTime to abc_controlSwingSupportTime | |
| [rtm.py] Connect abc.controlSwingSupportTime - log.abc_controlSwingSupportTime | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = cogOut to abc_cogOut | |
| [rtm.py] Connect abc.cogOut - log.abc_cogOut | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmp to st_zmp | |
| [rtm.py] Connect st.zmp - log.st_zmp | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefZmp to st_originRefZmp | |
| [rtm.py] Connect st.originRefZmp - log.st_originRefZmp | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefCog to st_originRefCog | |
| [ INFO] [1452683709.044291011, 2.211999999]: ADD_GROUP: larm (/larm_controller) | |
| [ INFO] [1452683709.044347632, 2.211999999]: JOINT: LARM_SHOULDER_P LARM_SHOULDER_R LARM_SHOULDER_Y LARM_ELBOW LARM_WRIST_Y LARM_WRIST_P | |
| [addJointGroup] group name = larm | |
| [rtm.py] Connect st.originRefCog - log.st_originRefCog | |
| [ INFO] [1452683709.074224399, 2.311999999]: ADD_GROUP: torso (/torso_controller) | |
| [ INFO] [1452683709.074260934, 2.311999999]: JOINT: WAIST_P WAIST_R CHEST | |
| [addJointGroup] group name = torso | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefCogVel to st_originRefCogVel | |
| [ INFO] [1452683709.102164065, 2.405999999]: ADD_GROUP: rhand (/rhand_controller) | |
| [ INFO] [1452683709.102196285, 2.405999999]: JOINT: RARM_WRIST_R | |
| [addJointGroup] group name = rhand | |
| [rtm.py] Connect st.originRefCogVel - log.st_originRefCogVel | |
| [ INFO] [1452683709.130768479, 2.495999999]: ADD_GROUP: lhand (/lhand_controller) | |
| [ INFO] [1452683709.130828905, 2.497999999]: JOINT: LARM_WRIST_R | |
| [addJointGroup] group name = lhand | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originNewZmp to st_originNewZmp | |
| [rtm.py] Connect st.originNewZmp - log.st_originNewZmp | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActZmp to st_originActZmp | |
| [rtm.py] Connect st.originActZmp - log.st_originActZmp | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActCog to st_originActCog | |
| [rtm.py] Connect st.originActCog - log.st_originActCog | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originActCogVel to st_originActCogVel | |
| [rtm.py] Connect st.originActCogVel - log.st_originActCogVel | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = allRefWrench to st_allRefWrench | |
| [rtm.py] Connect st.allRefWrench - log.st_allRefWrench | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = allEEComp to st_allEEComp | |
| [ INFO] [1452683709.500990256, 3.045999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 508[Hz] (exec 1782 Hz, dropped 1) | |
| [rtm.py] Connect st.allEEComp - log.st_allEEComp | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to st_q | |
| [rtm.py] Connect st.q - log.st_q | |
| [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = actBaseRpy to st_actBaseRpy | |
| [rtm.py] Connect st.actBaseRpy - log.st_actBaseRpy | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = currentBasePos to st_currentBasePos | |
| [rtm.py] Connect st.currentBasePos - log.st_currentBasePos | |
| [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = currentBaseRpy to st_currentBaseRpy | |
| [rtm.py] Connect st.currentBaseRpy - log.st_currentBaseRpy | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = debugData to st_debugData | |
| [rtm.py] Connect st.debugData - log.st_debugData | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to el_q | |
| [rtm.py] Connect el.q - log.el_q | |
| [hrpsys.py] setupLogger : emergencySignal arleady exists in DataLogger | |
| [rtm.py] Connect SampleRobot(Robot)0.emergencySignal - log.emergencySignal | |
| [hrpsys.py] setupLogger : record type = TimedLongSeqSeq, name = servoState to SampleRobot(Robot)0_servoState | |
| [rtm.py] Connect SampleRobot(Robot)0.servoState - log.SampleRobot(Robot)0_servoState | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut | |
| [rtm.py] Connect sh.lhsensorOut - log.sh_lhsensorOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut | |
| [rtm.py] Connect sh.rhsensorOut - log.sh_rhsensorOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensorOut to sh_lfsensorOut | |
| [rtm.py] Connect sh.lfsensorOut - log.sh_lfsensorOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensorOut to sh_rfsensorOut | |
| [rtm.py] Connect sh.rfsensorOut - log.sh_rfsensorOut | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor | |
| [rtm.py] Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor | |
| [rtm.py] Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lfsensor to rmfo_off_lfsensor | |
| [ INFO] [1452683710.501619316, 4.047999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1796 Hz, dropped 0) | |
| [rtm.py] Connect rmfo.off_lfsensor - log.rmfo_off_lfsensor | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rfsensor to rmfo_off_rfsensor | |
| [rtm.py] Connect rmfo.off_rfsensor - log.rmfo_off_rfsensor | |
| [log] Log cleared | |
| [hrpsys.py] setup joint groups | |
| [addJointGroup] group name = rleg | |
| [addJointGroup] group name = lleg | |
| [addJointGroup] group name = torso | |
| [addJointGroup] group name TORSO is already installed | |
| [addJointGroup] group name = head | |
| [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 | |
| initialize rtc parameters | |
| [st] getParameter | |
| [st] setParameter | |
| [st] TPCC | |
| [st] k_tpcc_p = [0.2, 0.2] | |
| [st] k_tpcc_x = [4, 4] | |
| [st] k_brot_p = [0, 0] | |
| [st] k_brot_tc = [0.1, 0.1] | |
| [st] EEFM | |
| [st] eefm_support_polygon_vertices_sequence set | |
| [st] vs = [0 0] [m] | |
| [st] vs = [0 0] [m] | |
| [st] vs = [0 0] [m] | |
| [st] vs = [0 0] [m] | |
| [st] is_ik_enable is [1][1][0][0] | |
| [st] is_feedback_control_enable is [1][1][0][0] | |
| [st] is_zmp_calc_enable is [1][1][0][0] | |
| [st] End Effector [lleg] | |
| [st] localpos = [0, 0, -0.07][m] | |
| [st] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [st] End Effector [rleg] | |
| [st] localpos = [0, 0, -0.07][m] | |
| [st] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [st] End Effector [larm] | |
| [st] localpos = [0, 0, -0.12][m] | |
| [st] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [st] End Effector [rarm] | |
| [st] localpos = [0, 0, -0.12][m] | |
| [st] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [st] foot_origin_offset is [0, 0, 0] [0, 0, 0][m] | |
| [st] eefm_k1 = [-1.39899, -1.39899] | |
| [st] eefm_k2 = [-0.386111, -0.386111] | |
| [st] eefm_k3 = [-0.175068, -0.175068] | |
| [st] eefm_zmp_delay_time_const = [0.055, 0.055][s] | |
| [st] eefm_ref_zmp_aux = [0, 0][m] | |
| [st] eefm_body_attitude_control_gain = [0.5, 0.5] | |
| [st] eefm_body_attitude_control_time_const = [100000, 100000][s] | |
| [st] [lleg] eefm_rot_damping_gain = [320, 320, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [lleg] eefm_pos_damping_gain = [175000, 175000, 17500], eefm_pos_time_const_support = [1.5, 1.5, 1.5][s] | |
| [st] [lleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad] | |
| [st] [lleg] eefm_swing_pos_spring_gain = [0, 0, 0], eefm_swing_rot_spring_gain = [0, 0, 0] | |
| [st] [lleg] eefm_ee_moment_limit = [10000, 10000, 10000][Nm] | |
| [st] [rleg] eefm_rot_damping_gain = [320, 320, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [rleg] eefm_pos_damping_gain = [175000, 175000, 17500], eefm_pos_time_const_support = [1.5, 1.5, 1.5][s] | |
| [st] [rleg] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad] | |
| [st] [rleg] eefm_swing_pos_spring_gain = [0, 0, 0], eefm_swing_rot_spring_gain = [0, 0, 0] | |
| [st] [rleg] eefm_ee_moment_limit = [10000, 10000, 10000][Nm] | |
| [st] [larm] eefm_rot_damping_gain = [320, 320, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [larm] eefm_pos_damping_gain = [175000, 175000, 17500], eefm_pos_time_const_support = [1.5, 1.5, 1.5][s] | |
| [st] [larm] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad] | |
| [st] [larm] eefm_swing_pos_spring_gain = [0, 0, 0], eefm_swing_rot_spring_gain = [0, 0, 0] | |
| [st] [larm] eefm_ee_moment_limit = [10000, 10000, 10000][Nm] | |
| [st] [rarm] eefm_rot_damping_gain = [320, 320, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [rarm] eefm_pos_damping_gain = [175000, 175000, 17500], eefm_pos_time_const_support = [1.5, 1.5, 1.5][s] | |
| [st] [rarm] eefm_pos_compensation_limit = 0.025[m], eefm_rot_compensation_limit = 0.174533[rad] | |
| [st] [rarm] eefm_swing_pos_spring_gain = [0, 0, 0], eefm_swing_rot_spring_gain = [0, 0, 0] | |
| [st] [rarm] eefm_ee_moment_limit = [10000, 10000, 10000][Nm] | |
| [st] eefm_pos_transition_time = 0.01[s], eefm_pos_margin_time = 0.02[s] eefm_pos_time_const_swing = 0.08[s] | |
| [st] cogvel_cutoff_freq = 4[Hz] | |
| [st] leg_inside_margin = 0.07112[m], leg_outside_margin = 0.07112[m], leg_front_margin = 0.182[m], leg_rear_margin = 0.072[m] | |
| [st] wrench_alpha_blending = 0.5, alpha_cutoff_freq = 1e+07[Hz] | |
| [st] eefm_gravitational_acceleration = 9.80665[m/s^2], eefm_use_force_difference_control = true | |
| [st] eefm_ee_pos_error_p_gain = 0, eefm_ee_rot_error_p_gain = 0, eefm_ee_error_cutoff_freq = 50[Hz] | |
| [st] COMMON | |
| [st] st_algorithm changed to [EEFMQP] | |
| [st] emergency_check_mode changed to [NO_CHECK] | |
| [st] transition_time = 2[s] | |
| [st] cop_check_margin = 0.02[m] | |
| [st] cp_check_margin = [0.03, 0.03, 0.03, 0.03] [m] | |
| [st] contact_decision_threshold = 50[N] | |
| [st] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [st] sr_gains = [1, 1, 1, 1, ] | |
| [st] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [st] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [st] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [hrpsys_py-3] process has finished cleanly | |
| log file: /home/leus/.ros/log/18566702-b9e6-11e5-bf3e-a0481cabf72e/hrpsys_py-3*.log | |
| [INFO] [WallTime: 1452683711.463072] [5.010000] check 6 collision status, 1.197605 Hz | |
| [ INFO] [1452683711.502593091, 5.049999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1791 Hz, dropped 0) | |
| [ INFO] [1452683712.503094521, 6.051999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1792 Hz, dropped 0) | |
| [ INFO] [1452683713.503992148, 7.053999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1778 Hz, dropped 0) | |
| [ INFO] [1452683714.504732072, 8.055999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1778 Hz, dropped 0) | |
| [ INFO] [1452683715.505115149, 9.057999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1776 Hz, dropped 0) | |
| [INFO] [WallTime: 1452683716.467005] [10.020000] check 6 collision status, 1.197605 Hz | |
| [ INFO] [1452683716.505941214, 10.060000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1782 Hz, dropped 0) | |
| [ INFO] [1452683717.509002468, 11.064000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1788 Hz, dropped 0) | |
| [ INFO] [1452683717.912523732, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() | |
| [ INFO] [1452683717.912638137, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) | |
| [ INFO] [1452683717.912674607, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1 | |
| [ INFO] [1452683717.912761497, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 5 | |
| [ INFO] [1452683717.912786107, 11.130000000]: [HrpsysJointTrajectoryBridge0] 0.31129 0.159481 0.115399 -0.636277 0 0 | |
| [ INFO] [1452683717.912804105, 11.130000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm | |
| [ INFO] [1452683717.913388446, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() | |
| [ INFO] [1452683717.913459069, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) | |
| [ INFO] [1452683717.913498603, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1 | |
| [ INFO] [1452683717.913554568, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 5 | |
| [ INFO] [1452683717.913582622, 11.130000000]: [HrpsysJointTrajectoryBridge0] 0.31129 -0.159481 -0.115399 -0.636277 0 0 | |
| [ INFO] [1452683717.913612300, 11.130000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm | |
| [ INFO] [1452683717.913736873, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() | |
| [ INFO] [1452683717.913785774, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) | |
| [ INFO] [1452683717.913817210, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1 | |
| [ INFO] [1452683717.913869189, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 5 | |
| [ INFO] [1452683717.913896534, 11.130000000]: [HrpsysJointTrajectoryBridge0] 0 0 0 | |
| [ INFO] [1452683717.913922382, 11.130000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso | |
| [ INFO] [1452683717.914051015, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() | |
| [ INFO] [1452683717.914099359, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (lhand) | |
| [ INFO] [1452683717.914129738, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (lhand) : trajectory.points.size() 1 | |
| [ INFO] [1452683717.914170886, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (lhand) : time_from_start 5 | |
| [ INFO] [1452683717.914202606, 11.130000000]: [HrpsysJointTrajectoryBridge0] 0 | |
| [ INFO] [1452683717.914228689, 11.130000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: lhand | |
| [ INFO] [1452683717.914432252, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onFollowJointTrajectoryActionGoal() | |
| [ INFO] [1452683717.914479362, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rhand) | |
| [ INFO] [1452683717.914509718, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rhand) : trajectory.points.size() 1 | |
| [ INFO] [1452683717.914545487, 11.130000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rhand) : time_from_start 5 | |
| [ INFO] [1452683717.914571384, 11.130000000]: [HrpsysJointTrajectoryBridge0] 0 | |
| [ INFO] [1452683717.914596908, 11.130000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rhand | |
| [ INFO] [1452683718.015647512, 11.132000000]: [HrpsysSeqStateROSBridge0] @onJointTrajectoryAction | |
| [ INFO] [1452683718.015745162, 11.132000000]: [HrpsysSeqStateROSBridge0] @onJointTrajectoryAction : time_from_start 5 | |
| [ INFO] [1452683718.509739813, 12.066000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1785 Hz, dropped 0) | |
| [rtmlaunch] check connection/activation | |
| [ INFO] [1452683719.510331836, 13.068000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1797 Hz, dropped 0) | |
| [ INFO] [1452683720.511705670, 14.070000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1795 Hz, dropped 0) | |
| [INFO] [WallTime: 1452683721.481799] [15.042000] check 6 collision status, 1.194743 Hz | |
| [ INFO] [1452683721.514366492, 15.074000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1796 Hz, dropped 0) | |
| [ INFO] [1452683722.517375830, 16.078000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1784 Hz, dropped 0) | |
| [ INFO] [1452683723.013792178, 16.132000000]: [HrpsysJointTrajectoryBridge0] @proc follow_joint_trajectory_server->setSucceeded() | |
| [ INFO] [1452683723.013921302, 16.132000000]: [HrpsysJointTrajectoryBridge0] @proc follow_joint_trajectory_server->setSucceeded() | |
| [ INFO] [1452683723.014027162, 16.132000000]: [HrpsysJointTrajectoryBridge0] @proc follow_joint_trajectory_server->setSucceeded() | |
| [ INFO] [1452683723.014148446, 16.132000000]: [HrpsysJointTrajectoryBridge0] @proc follow_joint_trajectory_server->setSucceeded() | |
| [ INFO] [1452683723.014242687, 16.132000000]: [HrpsysJointTrajectoryBridge0] @proc follow_joint_trajectory_server->setSucceeded() | |
| [ INFO] [1452683723.095822200, 16.340000000]: AutoBalancerServiceROSBridge::startAutoBalancer() called | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.097913926, 16.344000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.099012092, 16.348000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.100112216, 16.350000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.100672890, 16.352000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.101695338, 16.354000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.102347776, 16.356000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.103452122, 16.360000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.104572064, 16.362000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [ERROR] [1452683723.105586686, 16.364000000]: [HrpsysSeqStateROSBridge0] nan value detected in imu_floor! (input: r,p,y=-nan,-nan,-nan) |
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stを入れて落ちるとき