Created
December 13, 2013 14:10
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| [ WARN] [1386943605.784200723]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper | |
| [ WARN] [1386943606.203998542]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper | |
| [ INFO] [1386943606.402182388]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| Info: 9 EtherCAT slaves found | |
| Info: BaseLeftFront Controller Type: 174 Firmware version: 148 | |
| Info: BaseRightFront Controller Type: 174 Firmware version: 148 | |
| Info: BaseLeftBack Controller Type: 174 Firmware version: 148 | |
| Info: BaseRightBack Controller Type: 174 Firmware version: 148 | |
| [ INFO] [1386943607.373512105]: Base is initialized. | |
| [ INFO] [1386943607.373710277]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: arm_joint_1 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_2 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_3 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_4 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_5 Controller Type: 1610 Firmware version: 148 | |
| Info: Gripper Controller Type: 842 Firmware version: 4.2 | |
| [ INFO] [1386943607.551639492]: Joint 1 for arm youbot-manipulator has name: arm_joint_1 | |
| [ INFO] [1386943607.551804371]: Joint 2 for arm youbot-manipulator has name: arm_joint_2 | |
| [ INFO] [1386943607.552163423]: Joint 3 for arm youbot-manipulator has name: arm_joint_3 | |
| [ INFO] [1386943607.552508174]: Joint 4 for arm youbot-manipulator has name: arm_joint_4 | |
| [ INFO] [1386943607.552728347]: Joint 5 for arm youbot-manipulator has name: arm_joint_5 | |
| Info: Manipulator Joint Commutation | |
| Info: Calibrate Manipulator Joints | |
| [ INFO] [1386943613.501934615]: Joint 1 for gripper of arm youbot-manipulator has name: gripper_finger_joint_l | |
| [ INFO] [1386943613.502101636]: Joint 2 for gripper of arm youbot-manipulator has name: gripper_finger_joint_r | |
| Info: Calibrate Gripper | |
| Warning: Receiving data failed | |
| [FATAL] [1386943617.104407829]: Unable to get parameter: TargetPositionReached from the gripper | |
| [ERROR] [1386943617.104652135]: Arm "youbot-manipulator" could not be initialized. | |
| [ INFO] [1386943617.104814405]: System has 0 initialized arm(s). | |
| [ INFO] [1386943617.105247954]: Call to serivce: /reconnect successful. | |
| [ INFO] [1386943627.959898534]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| Info: 9 EtherCAT slaves found | |
| Info: BaseLeftFront Controller Type: 174 Firmware version: 148 | |
| Info: BaseRightFront Controller Type: 174 Firmware version: 148 | |
| Info: BaseLeftBack Controller Type: 174 Firmware version: 148 | |
| Info: BaseRightBack Controller Type: 174 Firmware version: 148 | |
| [ INFO] [1386943628.926598030]: Base is initialized. | |
| [ INFO] [1386943628.926837069]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: arm_joint_1 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_2 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_3 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_4 Controller Type: 1610 Firmware version: 148 | |
| Info: arm_joint_5 Controller Type: 1610 Firmware version: 148 | |
| Info: Gripper Controller Type: 842 Firmware version: 4.2 | |
| [ INFO] [1386943629.106341855]: Joint 1 for arm youbot-manipulator has name: arm_joint_1 | |
| [ INFO] [1386943629.106509879]: Joint 2 for arm youbot-manipulator has name: arm_joint_2 | |
| [ INFO] [1386943629.106598491]: Joint 3 for arm youbot-manipulator has name: arm_joint_3 | |
| [ INFO] [1386943629.106693348]: Joint 4 for arm youbot-manipulator has name: arm_joint_4 | |
| [ INFO] [1386943629.106775585]: Joint 5 for arm youbot-manipulator has name: arm_joint_5 | |
| Info: Manipulator Joint Commutation | |
| Info: Calibrate Manipulator Joints | |
| [ INFO] [1386943632.727229502]: Joint 1 for gripper of arm youbot-manipulator has name: gripper_finger_joint_l | |
| [ INFO] [1386943632.727411767]: Joint 2 for gripper of arm youbot-manipulator has name: gripper_finger_joint_r | |
| Info: Calibrate Gripper | |
| [ INFO] [1386943637.604933587]: Arm "youbot-manipulator" is initialized. | |
| [ INFO] [1386943637.605160025]: System has 1 initialized arm(s). | |
| [ INFO] [1386943637.623494264]: Call to serivce: /reconnect successful. | |
| Warning: Receiving data failed | |
| [ WARN] [1386943657.967739501]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper | |
| [ WARN] [1386943658.388723956]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper | |
| Error: Lost EtherCAT connection | |
| [ WARN] [1386943658.409459068]: No EtherCAT connection | |
| [ERROR] [1386943661.410892352]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization is lost. | |
| [ERROR] [1386943661.411190532]: Could not call service: /reconnect. | |
| [ERROR] [1386943661.411721712]: Error closing socket [9]: [Bad file descriptor] | |
| [ INFO] [1386943661.426113261]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| [FATAL] [1386943661.451964918]: No EtherCAT slaves found! | |
| [ERROR] [1386943661.452189670]: Base "youbot-base" could not be initialized. | |
| [ INFO] [1386943661.452441827]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| [FATAL] [1386943661.479925533]: No EtherCAT slaves found! | |
| [ERROR] [1386943661.480083950]: Arm "youbot-manipulator" could not be initialized. | |
| [ INFO] [1386943661.480286897]: System has 0 initialized arm(s). | |
| [ WARN] [1386943661.481075014]: ../config/youbot-ethercat.cfg file not found | |
| [ INFO] [1386943661.495010827]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| [FATAL] [1386943661.519844754]: No EtherCAT slaves found! | |
| [ERROR] [1386943661.520016470]: Base "youbot-base" could not be initialized. | |
| [ INFO] [1386943661.520234687]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| [FATAL] [1386943661.547918921]: No EtherCAT slaves found! | |
| [ERROR] [1386943661.548055880]: Arm "youbot-manipulator" could not be initialized. | |
| [ INFO] [1386943661.548118748]: System has 0 initialized arm(s). | |
| [ INFO] [1386943661.548467638]: Call to serivce: /reconnect successful. | |
| [ INFO] [1386943661.581711056]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread | |
| [FATAL] [1386943661.611851975]: No EtherCAT slaves found! | |
| [ERROR] [1386943661.612086203]: Base "youbot-base" could not be initialized. | |
| [ INFO] [1386943661.612372947]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config | |
| Info: Initializing EtherCAT on eth0 with communication thread |
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[ WARN] [1386943894.657167396]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
[ INFO] [1386943894.790051925]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
Info: 9 EtherCAT slaves found
Info: BaseLeftFront Controller Type: 174 Firmware version: 148
Info: BaseRightFront Controller Type: 174 Firmware version: 148
Info: BaseLeftBack Controller Type: 174 Firmware version: 148
Info: BaseRightBack Controller Type: 174 Firmware version: 148
[ INFO] [1386943895.760481413]: Base is initialized.
[ INFO] [1386943895.760797346]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: arm_joint_1 Controller Type: 1610 Firmware version: 148
Info: arm_joint_2 Controller Type: 1610 Firmware version: 148
Info: arm_joint_3 Controller Type: 1610 Firmware version: 148
Info: arm_joint_4 Controller Type: 1610 Firmware version: 148
Info: arm_joint_5 Controller Type: 1610 Firmware version: 148
Info: Gripper Controller Type: 842 Firmware version: 4.2
[ INFO] [1386943895.940587852]: Joint 1 for arm youbot-manipulator has name: arm_joint_1
[ INFO] [1386943895.940794396]: Joint 2 for arm youbot-manipulator has name: arm_joint_2
[ INFO] [1386943895.941154486]: Joint 3 for arm youbot-manipulator has name: arm_joint_3
[ INFO] [1386943895.941434117]: Joint 4 for arm youbot-manipulator has name: arm_joint_4
[ INFO] [1386943895.941696541]: Joint 5 for arm youbot-manipulator has name: arm_joint_5
Info: Manipulator Joint Commutation
Info: Calibrate Manipulator Joints
[ INFO] [1386943901.154232160]: Joint 1 for gripper of arm youbot-manipulator has name: gripper_finger_joint_l
[ INFO] [1386943901.154358705]: Joint 2 for gripper of arm youbot-manipulator has name: gripper_finger_joint_r
Info: Calibrate Gripper
[ INFO] [1386943906.044223692]: Arm "youbot-manipulator" is initialized.
[ INFO] [1386943906.044435392]: System has 1 initialized arm(s).
[ INFO] [1386943906.063094031]: Call to serivce: /reconnect successful.
Warning: Receiving data failed
[ WARN] [1386943919.354312508]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
Warning: Receiving data failed
[ WARN] [1386943919.774819628]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
[ WARN] [1386943920.196904195]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
Error: Lost EtherCAT connection
[ WARN] [1386943920.377820858]: No EtherCAT connection
[ERROR] [1386943928.955166968]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization is lost.
[ERROR] [1386943928.955456320]: Could not call service: /reconnect.
[ INFO] [1386943928.974892200]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
Info: 9 EtherCAT slaves found
Info: BaseLeftFront Controller Type: 174 Firmware version: 148
Info: BaseRightFront Controller Type: 174 Firmware version: 148
Info: BaseLeftBack Controller Type: 174 Firmware version: 148
Info: BaseRightBack Controller Type: 174 Firmware version: 148
Info: Base Joint Commutation with firmware 1.48
[ INFO] [1386943931.012851074]: Base is initialized.
[ INFO] [1386943931.013095380]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: arm_joint_1 Controller Type: 1610 Firmware version: 148
Info: arm_joint_2 Controller Type: 1610 Firmware version: 148
Info: arm_joint_3 Controller Type: 1610 Firmware version: 148
Info: arm_joint_4 Controller Type: 1610 Firmware version: 148
Info: arm_joint_5 Controller Type: 1610 Firmware version: 148
Info: Gripper Controller Type: 842 Firmware version: 4.2
[ INFO] [1386943931.194046072]: Joint 1 for arm youbot-manipulator has name: arm_joint_1
[ INFO] [1386943931.194244856]: Joint 2 for arm youbot-manipulator has name: arm_joint_2
[ INFO] [1386943931.194561090]: Joint 3 for arm youbot-manipulator has name: arm_joint_3
[ INFO] [1386943931.194740681]: Joint 4 for arm youbot-manipulator has name: arm_joint_4
[ INFO] [1386943931.194899957]: Joint 5 for arm youbot-manipulator has name: arm_joint_5
Info: Manipulator Joint Commutation
Info: Calibrate Manipulator Joints
[ INFO] [1386943934.708299933]: Joint 1 for gripper of arm youbot-manipulator has name: gripper_finger_joint_l
[ INFO] [1386943934.708491484]: Joint 2 for gripper of arm youbot-manipulator has name: gripper_finger_joint_r
Info: Calibrate Gripper
[ INFO] [1386943939.593320506]: Arm "youbot-manipulator" is initialized.
[ INFO] [1386943939.593513441]: System has 1 initialized arm(s).
[ INFO] [1386943939.664471433]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
Info: 9 EtherCAT slaves found
Info: BaseLeftFront Controller Type: 174 Firmware version: 148
Info: BaseRightFront Controller Type: 174 Firmware version: 148
Info: BaseLeftBack Controller Type: 174 Firmware version: 148
Info: BaseRightBack Controller Type: 174 Firmware version: 148
[ INFO] [1386943940.633969580]: Base is initialized.
[ INFO] [1386943940.634173034]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: arm_joint_1 Controller Type: 1610 Firmware version: 148
Info: arm_joint_2 Controller Type: 1610 Firmware version: 148
Info: arm_joint_3 Controller Type: 1610 Firmware version: 148
Info: arm_joint_4 Controller Type: 1610 Firmware version: 148
Info: arm_joint_5 Controller Type: 1610 Firmware version: 148
Info: Gripper Controller Type: 842 Firmware version: 4.2
[ INFO] [1386943940.813423211]: Joint 1 for arm youbot-manipulator has name: arm_joint_1
[ INFO] [1386943940.813575800]: Joint 2 for arm youbot-manipulator has name: arm_joint_2
[ INFO] [1386943940.813671435]: Joint 3 for arm youbot-manipulator has name: arm_joint_3
[ INFO] [1386943940.813738321]: Joint 4 for arm youbot-manipulator has name: arm_joint_4
[ INFO] [1386943940.813815787]: Joint 5 for arm youbot-manipulator has name: arm_joint_5
Info: Calibrate Manipulator Joints
[ INFO] [1386943940.961388350]: Joint 1 for gripper of arm youbot-manipulator has name: gripper_finger_joint_l
[ INFO] [1386943940.961579057]: Joint 2 for gripper of arm youbot-manipulator has name: gripper_finger_joint_r
[ INFO] [1386943941.010369886]: Arm "youbot-manipulator" is initialized.
[ INFO] [1386943941.010588645]: System has 1 initialized arm(s).
[ INFO] [1386943941.030077792]: Call to serivce: /reconnect successful.
Warning: Receiving data failed
[ WARN] [1386943953.260975421]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
[ WARN] [1386943953.683109434]: Cannot read gripper values: Unable to get parameter: ActualPosition from the gripper
Error: Lost EtherCAT connection
[ WARN] [1386943953.863977925]: No EtherCAT connection
[ERROR] [1386943959.181403187]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization is lost.
[ERROR] [1386943959.181646901]: Could not call service: /reconnect.
[ERROR] [1386943959.182080364]: Error closing socket [13]: [Bad file descriptor]
[ INFO] [1386943959.196433494]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.224022079]: No EtherCAT slaves found!
[ERROR] [1386943959.224152245]: Base "youbot-base" could not be initialized.
[ INFO] [1386943959.224230895]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.251932321]: No EtherCAT slaves found!
[ERROR] [1386943959.252146946]: Arm "youbot-manipulator" could not be initialized.
[ INFO] [1386943959.252368924]: System has 0 initialized arm(s).
[ WARN] [1386943959.252973777]: ../config/youbot-ethercat.cfg file not found
[ INFO] [1386943959.266520998]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.291901474]: No EtherCAT slaves found!
[ERROR] [1386943959.292040745]: Base "youbot-base" could not be initialized.
[ INFO] [1386943959.292119936]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.319925379]: No EtherCAT slaves found!
[ERROR] [1386943959.320067715]: Arm "youbot-manipulator" could not be initialized.
[ INFO] [1386943959.320131737]: System has 0 initialized arm(s).
[ INFO] [1386943959.320700980]: Call to serivce: /reconnect successful.
[ INFO] [1386943959.354550259]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.379869227]: No EtherCAT slaves found!
[ERROR] [1386943959.380045292]: Base "youbot-base" could not be initialized.
[ INFO] [1386943959.380223408]: Configuration file path: /home/robocup/hydro/src/youbot_driver/config
Info: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1386943959.403962240]: No EtherCAT slaves found!
[ERROR] [1386943959.404173022]: Arm "youbot-manipulator" could not be initialized.
[ INFO] [1386943959.404390311]: System has 0 initialized arm(s).
[ INFO] [1386943959.405040320]: Call to serivce: /reconnect successful.
terminate called after throwing an instance of 'youbot::FileNotFoundException'
what(): ../config/youbot-ethercat.cfg file not found
[youbot_driver_ros_interface-3] process has died [pid 6870, exit code -6, cmd /home/robocup/hydro/devel/lib/youbot_driver_ros_interface/youbot_driver_ros_interface base/joint_states:=joint_states arm_1/joint_states:=joint_states __name:=youbot_driver_ros_interface __log:=/home/robocup/.ros/log/47820556-6400-11e3-b538-000bab693a65/youbot_driver_ros_interface-3.log].
log file: /home/robocup/.ros/log/47820556-6400-11e3-b538-000bab693a65/youbot_driver_ros_interface-3*.log
[ERROR] [1386943961.701777389]: Could not call service: /reconnect.
[ERROR] [1386943961.721878237]: Could not call service: /reconnect.
[ERROR] [1386943961.742085189]: Could not call service: /reconnect.
[ERROR] [1386943961.761614752]: Could not call service: /reconnect.
[ERROR] [1386943961.782385389]: Could not call service: /reconnect.
[ERROR] [1386943961.802319402]: Could not call service: /reconnect.