Created
January 17, 2016 08:41
-
-
Save YuOhara/e11ae8842c04d91d2d34 to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Script started on 2016年01月17日 17時40分23秒 | |
| ]0;leus@leus-HP-Z620-Workstation: ~leus@leus-HP-Z620-Workstation:~$ rtmlaunch hrpsys_ros_bridge samplerobot.launch | |
| USE_UNSTABLE_RTC:=true | |
| [34m[rtmlaunch] Start omniNames at port 15005 [0m | |
| Sun Jan 17 17:40:31 2016: | |
| Starting omniNames for the first time. | |
| Wrote initial log file. | |
| Read log file successfully. | |
| Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003133332e31312e3231362e3431009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000007f539b560100064f | |
| 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/bb7ccfd4-bcf2-11e5-8335-a0481cabf72e/roslaunch-leus-HP-Z620-Workstation-1609.log | |
| Checking log directory for disk usage. This may take awhile. | |
| Press Ctrl-C to interrupt | |
| [31mWARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB. | |
| It's recommended that you use the 'rosclean' command.[0m | |
| ]2;/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/samplerobot.launch | |
| [1mstarted roslaunch server http://leus-HP-Z620-Workstation:42239/[0m | |
| 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/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) | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtconnect[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag rtactivate[0m | |
| [31mWARNING: unrecognized tag sphinxdoc[0m | |
| [1mROS_MASTER_URI=http://localhost:11311[0m | |
| ]2;/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/samplerobot.launch http://localhost:11311 | |
| core service [/rosout] found | |
| [1mprocess[modelloader-1]: started with pid [1632][0m | |
| ready | |
| [1mprocess[hrpsys-2]: started with pid [1637][0m | |
| [1mprocess[hrpsys_py-3]: started with pid [1638][0m | |
| [1mprocess[HrpsysSeqStateROSBridge-4]: started with pid [1639][0m | |
| [1mprocess[HrpsysJointTrajectoryBridge-5]: started with pid [1640][0m | |
| [1mprocess[hrpsys_state_publisher-6]: started with pid [1672][0m | |
| 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 | |
| [1mprocess[hrpsys_ros_diagnostics-7]: started with pid [1733][0m | |
| 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) | |
| [0m[ INFO] [1453020034.615639220]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done[0m | |
| [1mprocess[diagnostic_aggregator-8]: started with pid [1750][0m | |
| [1mprocess[hrpsys_profile-9]: started with pid [1783][0m | |
| [1mprocess[sensor_ros_bridge_connect-10]: started with pid [1785][0m | |
| [1mprocess[rtmlaunch_hrpsys_ros_bridge-11]: started with pid [1788][0m | |
| configuration ORB with localhost:15005 | |
| [hrpsys.py] waiting ModelLoader | |
| [hrpsys.py] start hrpsys | |
| [hrpsys.py] finding RTCManager and RobotHardware | |
| [1mprocess[SequencePlayerServiceROSBridge-12]: started with pid [1796][0m | |
| [1mprocess[DataLoggerServiceROSBridge-13]: started with pid [1833][0m | |
| [1mprocess[ForwardKinematicsServiceROSBridge-14]: started with pid [1898][0m | |
| [1mprocess[StateHolderServiceROSBridge-15]: started with pid [1931][0m | |
| [1mprocess[AutoBalancerServiceROSBridge-16]: started with pid [1998][0m | |
| [sensor_ros_bridge_connect.py] start | |
| configuration ORB with localhost:15005 | |
| [1mprocess[StabilizerServiceROSBridge-17]: started with pid [2086][0m | |
| 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 | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/idl/../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 ! | |
| [1mprocess[KalmanFilterServiceROSBridge-18]: started with pid [2123][0m | |
| [1mprocess[CollisionDetectorServiceROSBridge-19]: started with pid [2179][0m | |
| /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) | |
| [1mprocess[collision_state-20]: started with pid [2216][0m | |
| [1mprocess[ImpedanceControllerServiceROSBridge-21]: started with pid [2238][0m | |
| [1mprocess[RemoveForceSensorLinkOffsetServiceROSBridge-22]: started with pid [2252][0m | |
| [1mprocess[SoftErrorLimiterServiceROSBridge-23]: started with pid [2283][0m | |
| [1mprocess[EmergencyStopperServiceROSBridge-24]: started with pid [2314][0m | |
| /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) | |
| [1mprocess[HardEmergencyStopperServiceROSBridge-25]: started with pid [2381][0m | |
| [33m[ WARN] [1453020035.100151145]: [HrpsysSeqStateROSBridge] use_hrpsys_time[0m | |
| [1mprocess[robot_pose_ekf-26]: started with pid [2420][0m | |
| [1mprocess[base_footprint_rootlink-27]: started with pid [2456][0m | |
| [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 | |
| [1mprocess[samplerobot_rviz-28]: started with pid [2499][0m | |
| [0m[ INFO] [1453020035.157227097]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0[0m | |
| 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 | |
| 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 | |
| [rtmlaunch] check connection/activation | |
| 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] | |
| [0m[ INFO] [1453020035.179920435]: [HrpsysSeqStateROSBridge] Loaded SampleRobot[0m | |
| [0m[ INFO] [1453020035.180106735]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done[0m | |
| [33m[rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 0 /30[0m | |
| [hrpsys.py] wait for RTCmanager : None | |
| [hrpsys.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f8f392b4cb0> ( timeout 0 < 10) | |
| [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f8f392b4cb0> 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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f8f392bf998> (315.7.0) | |
| [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f8f3921e7a0> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f8f392c3a28> (315.7.0) | |
| [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f8f39223128> | |
| [hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk") | |
| /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) | |
| [fk] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl | |
| /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 | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl | |
| [33m[WARN] [WallTime: 1453020035.799929] [0.000000] Could not found CollisionDetector(co), waiting... | |
| [0m[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f8f3920c488> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f8f392c5c68> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> TorqueFilter : <hrpsys.rtm.RTcomponent instance at 0x7f8f3920eef0> (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/idl/../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 0x7f8f3920cb00> (315.7.0) | |
| [hrpsys.py] create CompSvc -> KalmanFilter Service : <OpenHRP._objref_KalmanFilterService instance at 0x7f8f39212170> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> VirtualForceSensor : <hrpsys.rtm.RTcomponent instance at 0x7f8f392c5830> (315.7.0) | |
| [hrpsys.py] create CompSvc -> VirtualForceSensor Service : <OpenHRP._objref_VirtualForceSensorService instance at 0x7f8f392c4368> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f8f3920e2d8> (315.7.0) | |
| [hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f8f392badd0> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f8f39212098> (315.7.0) | |
| [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f8f3921e3f8> | |
| [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/idl/../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 0x7f8f392ba758> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f8f39221f38> | |
| [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/idl/../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 | |
| [sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation | |
| [hrpsys.py] create Comp -> AutoBalancer : <hrpsys.rtm.RTcomponent instance at 0x7f8f39212290> (315.7.0) | |
| [sensor_ros_bridge_connect.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f3bd173ccf8> ( timeout 0 < 10) | |
| [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f3bd173ccf8> isActive? = True | |
| [hrpsys.py] create CompSvc -> AutoBalancer Service : <OpenHRP._objref_AutoBalancerService instance at 0x7f8f39227a28> | |
| [hrpsys.py] eval : [self.st, self.st_svc, self.st_version] = self.createComp("Stabilizer","st") | |
| [sensor_ros_bridge_connect.py] simulation_mode : True | |
| [st] onInitialize() | |
| [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 | |
| [rtm.py] Connect SampleRobot(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor | |
| [sensor_ros_bridge_connect.py] connect lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor | |
| [rtm.py] Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl | |
| [st] force sensor ports (4) | |
| [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 | |
| [st] name = lfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rhsensor - HrpsysSeqStateROSBridge0.rhsensor | |
| [sensor_ros_bridge_connect.py] connect rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor | |
| [st] name = rfsensor | |
| [rtm.py] Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor | |
| [sensor_ros_bridge_connect.py] connect rhsensor sh.rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor | |
| [rtm.py] Connect sh.rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor | |
| [st] name = lhsensor | |
| [sensor_ros_bridge_connect.py] connect lfsensor SampleRobot(Robot)0.lfsensor HrpsysSeqStateROSBridge0.lfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor | |
| [sensor_ros_bridge_connect.py] connect lfsensor rmfo.off_lfsensor HrpsysSeqStateROSBridge0.off_lfsensor | |
| [st] name = rhsensor | |
| [st] limbCOPOffset ports (4) | |
| [rtm.py] Connect rmfo.off_lfsensor - HrpsysSeqStateROSBridge0.off_lfsensor | |
| [sensor_ros_bridge_connect.py] connect lfsensor sh.lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor | |
| [st] name = limbCOPOffset_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 = [sensor_ros_bridge_connect.py] connect rfsensor sh.rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor | |
| 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] | |
| [rtm.py] Connect sh.rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor | |
| [hrpsys.py] create Comp -> Stabilizer : <hrpsys.rtm.RTcomponent instance at 0x7f8f39212f80> (315.7.0) | |
| [hrpsys.py] create CompSvc -> Stabilizer Service : <OpenHRP._objref_StabilizerService instance at 0x7f8f391e1200> | |
| [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/idl/../sample/model/sample1.wrl | |
| [1m[sensor_ros_bridge_connect-10] process has finished cleanly | |
| log file: /home/leus/.ros/log/bb7ccfd4-bcf2-11e5-8335-a0481cabf72e/sensor_ros_bridge_connect-10*.log[0m | |
| [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 0x7f8f392c3d88> (315.7.0) | |
| [hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService instance at 0x7f8f3921e680> | |
| [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/idl/../sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/idl/../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 0x7f8f392c3680> (315.7.0) | |
| [hrpsys.py] create CompSvc -> TorqueController Service : <OpenHRP._objref_TorqueControllerService instance at 0x7f8f392c4488> | |
| [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/idl/../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 0x7f8f392ba908> (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/idl/../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 0x7f8f392c3368> (315.7.0) | |
| [hrpsys.py] create CompSvc -> ThermoLimiter Service : <OpenHRP._objref_ThermoLimiterService instance at 0x7f8f39217440> | |
| [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/idl/../sample/model/sample1.wrl | |
| [hrpsys.py] create Comp -> EmergencyStopper : <hrpsys.rtm.RTcomponent instance at 0x7f8f392c5c20> (315.7.0) | |
| [hrpsys.py] create CompSvc -> EmergencyStopper Service : <OpenHRP._objref_EmergencyStopperService instance at 0x7f8f39221cf8> | |
| [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/idl/../sample/model/sample1.wrl | |
| [el] Do not load joint limit table | |
| [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f8f392c5a28> (315.7.0) | |
| [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f8f392176c8> | |
| [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 0x7f8f392c58c0> (315.7.0) | |
| [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f8f392227a0> | |
| [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 | |
| [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 | |
| [33m[rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle 1 /30[0m | |
| [rtm.py] Connect sh.qOut - te.qRefIn | |
| [rtm.py] Connect tf.tauOut - te.tauIn | |
| [rtm.py] Connect te.tempOut - tl.tempIn | |
| [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 | |
| [fk] onActivated(1000) | |
| [tf] onActivated(1000) | |
| [kf] onActivated(1000) | |
| [vs] onActivated(1000) | |
| [rmfo] onActivated(1000) | |
| [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} | |
| [es] onActivated(1000) | |
| [ic] onActivated(1000) | |
| [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 | |
| [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 | |
| [33m[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 0 /30[0m | |
| [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} | |
| [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 | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensor to SampleRobot(Robot)0_lhsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.lhsensor - log.SampleRobot(Robot)0_lhsensor | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensor to SampleRobot(Robot)0_rhsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rhsensor - log.SampleRobot(Robot)0_rhsensor | |
| [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 | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensor to SampleRobot(Robot)0_rfsensor | |
| [rtm.py] Connect SampleRobot(Robot)0.rfsensor - log.SampleRobot(Robot)0_rfsensor | |
| [hrpsys.py] setupLogger : record type = TimedOrientation3D, name = rpy to kf_rpy | |
| [rtm.py] Connect kf.rpy - log.kf_rpy | |
| [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 | |
| [INFO] [WallTime: 1453020036.805309] [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 | |
| [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 | |
| [rtmlaunch] Connected from localhost:15005/sh.rtc:qOut | |
| [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService | |
| [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService | |
| [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService | |
| [rtmlaunch] to localhost:15005/log.rtc:DataLoggerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService | |
| [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService | |
| [rtmlaunch] to localhost:15005/fk.rtc:ForwardKinematicsService | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] 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 = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut | |
| [rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut | |
| [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} | |
| [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 = TimedPoint3D, name = zmpOut to sh_zmpOut | |
| [rtm.py] Connect sh.zmpOut - log.sh_zmpOut | |
| [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} | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to ic_q | |
| [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} | |
| [rtm.py] Connect ic.q - log.ic_q | |
| [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} | |
| [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} | |
| [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} | |
| [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} | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to abc_zmpOut | |
| [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 {'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 | |
| [0m[ INFO] [1453020036.967989212, 2.039999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0)[0m | |
| [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 /localhost:15005/RemoveForceSensorLinkOffsetServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/SoftErrorLimiterServiceROSBridge.rtc | |
| [rtm.py] Connect abc.zmpOut - log.abc_zmpOut | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/EmergencyStopperServiceROSBridge.rtc | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/HardEmergencyStopperServiceROSBridge.rtc | |
| [0m[ INFO] [1453020036.972669612, 2.055999999]: ADD_GROUP: rarm (/rarm_controller)[0m | |
| [0m[ INFO] [1453020036.972711922, 2.055999999]: JOINT: RARM_SHOULDER_P RARM_SHOULDER_R RARM_SHOULDER_Y RARM_ELBOW RARM_WRIST_Y RARM_WRIST_P[0m | |
| [addJointGroup] group name = rarm | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = baseTformOut to abc_baseTformOut | |
| [rtm.py] Connect abc.baseTformOut - log.abc_baseTformOut | |
| [0m[ INFO] [1453020037.017942487, 2.099999999]: ADD_GROUP: larm (/larm_controller)[0m | |
| [0m[ INFO] [1453020037.017978400, 2.099999999]: JOINT: LARM_SHOULDER_P LARM_SHOULDER_R LARM_SHOULDER_Y LARM_ELBOW LARM_WRIST_Y LARM_WRIST_P[0m | |
| [addJointGroup] group name = larm | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to abc_q | |
| [0m[ INFO] [1453020037.039741068, 2.125999999]: ADD_GROUP: torso (/torso_controller)[0m | |
| [0m[ INFO] [1453020037.039779787, 2.125999999]: JOINT: WAIST_P WAIST_R CHEST[0m | |
| [addJointGroup] group name = torso | |
| [rtm.py] Connect abc.q - log.abc_q | |
| [0m[ INFO] [1453020037.062585558, 2.147999999]: ADD_GROUP: rhand (/rhand_controller)[0m | |
| [0m[ INFO] [1453020037.062622754, 2.147999999]: JOINT: RARM_WRIST_R[0m | |
| [addJointGroup] group name = rhand | |
| [hrpsys.py] setupLogger : record type = TimedBooleanSeq, name = contactStates to abc_contactStates | |
| [0m[ INFO] [1453020037.087006266, 2.171999999]: ADD_GROUP: lhand (/lhand_controller)[0m | |
| [0m[ INFO] [1453020037.087034822, 2.171999999]: JOINT: LARM_WRIST_R[0m | |
| [addJointGroup] group name = lhand | |
| [rtm.py] Connect abc.contactStates - log.abc_contactStates | |
| [0m[ INFO] [1453020037.111720932, 2.197999999]: ADD_GROUP: rleg (/rleg_controller)[0m | |
| [0m[ INFO] [1453020037.111750447, 2.197999999]: JOINT: RLEG_HIP_R RLEG_HIP_P RLEG_HIP_Y RLEG_KNEE RLEG_ANKLE_P RLEG_ANKLE_R[0m | |
| [addJointGroup] group name = rleg | |
| [hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = controlSwingSupportTime to abc_controlSwingSupportTime | |
| [rtm.py] Connect abc.controlSwingSupportTime - log.abc_controlSwingSupportTime | |
| [0m[ INFO] [1453020037.139233635, 2.225999999]: ADD_GROUP: lleg (/lleg_controller)[0m | |
| [0m[ INFO] [1453020037.139272938, 2.225999999]: JOINT: LLEG_HIP_R LLEG_HIP_P LLEG_HIP_Y LLEG_KNEE LLEG_ANKLE_P LLEG_ANKLE_R[0m | |
| [addJointGroup] group name = lleg | |
| [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 | |
| [rtm.py] Connect st.originRefCog - log.st_originRefCog | |
| [hrpsys.py] setupLogger : record type = TimedPoint3D, name = originRefCogVel to st_originRefCogVel | |
| [rtm.py] Connect st.originRefCogVel - log.st_originRefCogVel | |
| [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 | |
| [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 | |
| [0m[ INFO] [1453020037.969616024, 3.057999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 509[Hz] (exec 1798 Hz, dropped 1)[0m | |
| [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 | |
| [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 RLEG is already installed | |
| [addJointGroup] group name = lleg | |
| [addJointGroup] group name LLEG is already installed | |
| [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 | |
| [addJointGroup] group name = rhand | |
| [addJointGroup] group name RHAND is already installed | |
| [addJointGroup] group name = lhand | |
| [addJointGroup] group name LHAND is already installed | |
| [hrpsys.py] [32minitialized successfully[0m | |
| initialize rtc parameters | |
| [tl] setThermoLimiterParam | |
| [tl] m_debug_print_freq = 5000 | |
| [tl] m_alarmRatio = 1 | |
| [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 = [0.182 0.07112] [0.182 -0.07112] [-0.072 -0.07112] [-0.072 0.07112] [m] | |
| [st] vs = [0.182 0.07112] [0.182 -0.07112] [-0.072 -0.07112] [-0.072 0.07112] [m] | |
| [st] vs = [0.182 0.07112] [0.182 -0.07112] [-0.072 -0.07112] [-0.072 0.07112] [m] | |
| [st] vs = [0.182 0.07112] [0.182 -0.07112] [-0.072 -0.07112] [-0.072 0.07112] [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 = [48, 48, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [lleg] eefm_pos_damping_gain = [175000, 175000, 5250], 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 = [48, 48, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [rleg] eefm_pos_damping_gain = [175000, 175000, 5250], 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 = [48, 48, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [larm] eefm_pos_damping_gain = [175000, 175000, 5250], 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 = [48, 48, 100000], eefm_rot_time_const = [1.5, 1.5, 1.5][s] | |
| [st] [rarm] eefm_pos_damping_gain = [175000, 175000, 5250], 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] | |
| [1m[hrpsys_py-3] process has finished cleanly | |
| log file: /home/leus/.ros/log/bb7ccfd4-bcf2-11e5-8335-a0481cabf72e/hrpsys_py-3*.log[0m | |
| [0m[ INFO] [1453020038.970464194, 4.059999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1796 Hz, dropped 0)[0m | |
| [INFO] [WallTime: 1453020039.913637] [5.004000] check 6 collision status, 1.199041 Hz | |
| [0m[ INFO] [1453020039.971251685, 5.061999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1793 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020040.971906952, 6.063999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1800 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020041.972855321, 7.065999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1797 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020042.974044298, 8.067999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1801 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020043.975988336, 9.071999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1800 Hz, dropped 0)[0m | |
| [INFO] [WallTime: 1453020044.910138] [10.006000] check 6 collision status, 1.199520 Hz | |
| [0m[ INFO] [1453020044.977145422, 10.074000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1802 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020045.977719767, 11.076000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1795 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020046.980391051, 12.080000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1802 Hz, dropped 0)[0m | |
| [rtmlaunch] check connection/activation | |
| [0m[ INFO] [1453020047.981089406, 13.082000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1798 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020048.982308928, 14.084000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [INFO] [WallTime: 1453020049.921779] [15.026000] check 6 collision status, 1.195219 Hz | |
| [0m[ INFO] [1453020049.984417055, 15.088000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020050.984880116, 16.090000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020051.985838136, 17.092000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1801 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020052.542106612, 17.648000000]: [HrpsysSeqStateROSBridge0] @onJointTrajectoryAction [0m | |
| [0m[ INFO] [1453020052.542205027, 17.648000000]: [HrpsysSeqStateROSBridge0] @onJointTrajectoryAction : time_from_start 5[0m | |
| [0m[ INFO] [1453020052.986746200, 18.094000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1793 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020053.987329226, 19.096000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1800 Hz, dropped 0)[0m | |
| [INFO] [WallTime: 1453020054.935562] [20.044000] check 6 collision status, 1.195695 Hz | |
| [0m[ INFO] [1453020054.988142363, 20.097999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1801 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020055.988860890, 21.099999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020056.993329010, 22.101999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1804 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020057.738916293, 22.849999999]: AutoBalancerServiceROSBridge::startAutoBalancer() called[0m | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [0m[ INFO] [1453020057.995041904, 23.107999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 503[Hz] (exec 1798 Hz, dropped 0)[0m | |
| [rtmlaunch] check connection/activation | |
| [0m[ INFO] [1453020058.997626599, 24.111999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020059.735367355, 24.849999999]: AutoBalancerServiceROSBridge::startAutoBalancer() succeeded[0m | |
| [INFO] [WallTime: 1453020059.948218] [25.064000] check 6 collision status, 1.195219 Hz | |
| [0m[ INFO] [1453020059.999928319, 25.113999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020061.001921855, 26.115999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020062.002039897, 27.119999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020063.003359500, 28.121999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1798 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020064.005125530, 29.125999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1801 Hz, dropped 0)[0m | |
| [INFO] [WallTime: 1453020064.963787] [30.086000] check 6 collision status, 1.195219 Hz | |
| [0m[ INFO] [1453020065.007942769, 30.129999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020066.010243821, 31.131999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1800 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020067.014346352, 32.135999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1803 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020067.468725982, 32.591999999]: StabilizerServiceROSBridge::startStabilizer() called[0m | |
| [st] Start ST | |
| [st] Sync IDLE => ST | |
| [0m[ INFO] [1453020068.014489011, 33.139999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1797 Hz, dropped 0)[0m | |
| [el] velocity limit over LLEG_ANKLE_R(18), qvel=-40.3284, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over RLEG_ANKLE_R(5), qvel=45.9272, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over RLEG_ANKLE_P(4), qvel=-42.8238, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over RLEG_ANKLE_P(4), qvel=-55.4257, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [0m[ INFO] [1453020069.015342927, 34.143999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [el] velocity limit over RLEG_ANKLE_P(4), qvel=-64.2491, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] error limit over RLEG_ANKLE_P(4), qRef=-0.478725, qCurrent=-0.296358 , Error=-0.182367 > 0.18 (limit), servo_state = ON, q=-0.478725 | |
| [st] CP too large error [-0.0231795,-0.389333] [m] | |
| [st] Start ST DONE | |
| [0m[ INFO] [1453020069.465744582, 34.591999999]: StabilizerServiceROSBridge::startStabilizer() succeeded[0m | |
| [el] velocity limit over RLEG_ANKLE_P(4), qvel=-66.2056, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] error limit over RLEG_ANKLE_P(4), qRef=-0.467676, qCurrent=-0.275486 , Error=-0.192191 > 0.18 (limit), servo_state = ON, q=-0.467676 | |
| [st] Sync ST => IDLE | |
| [INFO] [WallTime: 1453020069.957607] [35.086000] check 6 collision status, 1.199520 Hz | |
| [rtmlaunch] check connection/activation | |
| [0m[ INFO] [1453020070.018394437, 35.145999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1800 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020071.021341444, 36.149999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1802 Hz, dropped 0)[0m | |
| [st] Move to MODE_IDLE | |
| [st] Sync IDLE => ST | |
| [es] emergencySignal is reset! | |
| [0m[ INFO] [1453020072.021708285, 37.153999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1799 Hz, dropped 0)[0m | |
| [0m[ INFO] [1453020073.024125336, 38.156000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1801 Hz, dropped 0)[0m | |
| [st] Sync ST => IDLE | |
| [0m[ INFO] [1453020074.026737067, 39.158000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 501[Hz] (exec 1801 Hz, dropped 0)[0m | |
| ^C[samplerobot_rviz-28] killing on exit | |
| [base_footprint_rootlink-27] killing on exit | |
| [robot_pose_ekf-26] killing on exit | |
| [HardEmergencyStopperServiceROSBridge-25] killing on exit | |
| [EmergencyStopperServiceROSBridge-24] killing on exit | |
| [SoftErrorLimiterServiceROSBridge-23] killing on exit | |
| [RemoveForceSensorLinkOffsetServiceROSBridge-22] killing on exit | |
| [ImpedanceControllerServiceROSBridge-21] killing on exit | |
| [collision_state-20] killing on exit | |
| [CollisionDetectorServiceROSBridge-19] killing on exit | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| [0m[ INFO] [1453020075.027390334, 40.162000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 502[Hz] (exec 1796 Hz, dropped 0)[0m | |
| [KalmanFilterServiceROSBridge-18] killing on exit | |
| [StabilizerServiceROSBridge-17] killing on exit | |
| [AutoBalancerServiceROSBridge-16] killing on exit | |
| [StateHolderServiceROSBridge-15] killing on exit | |
| [ForwardKinematicsServiceROSBridge-14] killing on exit | |
| [DataLoggerServiceROSBridge-13] killing on exit | |
| [SequencePlayerServiceROSBridge-12] killing on exit | |
| [rtmlaunch_hrpsys_ros_bridge-11] killing on exit | |
| [hrpsys_profile-9] killing on exit | |
| [33m[rtmlaunch] Catch signal 'SIGINT', exitting...[0m | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| [diagnostic_aggregator-8] killing on exit | |
| [hrpsys_ros_diagnostics-7] killing on exit | |
| [hrpsys_state_publisher-6] killing on exit | |
| [HrpsysJointTrajectoryBridge-5] killing on exit | |
| [HrpsysSeqStateROSBridge-4] killing on exit | |
| [hrpsys-2] killing on exit | |
| [modelloader-1] killing on exit | |
| [0m[ INFO] [1453020075.357189404, 40.486000000]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0[0m | |
| [0m[ INFO] [1453020075.357412842, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm[0m | |
| terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' | |
| [0m[ INFO] [1453020075.370301844, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm[0m | |
| [0m[ INFO] [1453020075.376902191, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso[0m | |
| [0m[ INFO] [1453020075.383503238, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rhand[0m | |
| [0m[ INFO] [1453020075.392804924, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (lhand[0m | |
| [0m[ INFO] [1453020075.441798869, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rleg[0m | |
| [0m[ INFO] [1453020075.449850694, 40.486000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (lleg[0m | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| shutting down processing monitor... | |
| ... shutting down processing monitor complete | |
| [1mdone[0m | |
| [34m[rtmlaunch] terminate omniNames at port 15005 [0m | |
| ]0;leus@leus-HP-Z620-Workstation: ~leus@leus-HP-Z620-Workstation:~$ exit | |
| exit | |
| Script done on 2016年01月17日 17時41分17秒 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment