Created
April 6, 2020 02:56
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| $ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch | |
| [rtmlaunch] default corbaport:= 15005 will be used | |
| [rtmlaunch] Start omniNames at port 15005 | |
| omniNames: (0) 2020-04-06 02:52:46.758091: Data file: '/tmp/omninames-46405e9dcc2a.dat'. | |
| omniNames: (0) 2020-04-06 02:52:46.759688: Read data file '/tmp/omninames-46405e9dcc2a.dat' successfully. | |
| omniNames: (0) 2020-04-06 02:52:46.759715: Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000b0000003137322e31372e302e3200009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000009cd0865e010000bc | |
| omniNames: (0) 2020-04-06 02:52:46.759760: Checkpointing Phase 1: Prepare. | |
| omniNames: (0) 2020-04-06 02:52:46.760317: Checkpointing Phase 2: Commit. | |
| omniNames: (0) 2020-04-06 02:52:46.760453: Checkpointing completed. | |
| ... logging to /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/roslaunch-46405e9dcc2a-6109.log | |
| Checking log directory for disk usage. This may take a while. | |
| Press Ctrl-C to interrupt | |
| Done checking log file disk usage. Usage is <1GB. | |
| started roslaunch server http://46405e9dcc2a:38547/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True | |
| * /collision_state/comp_name: CollisionDetector0 | |
| * /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 | |
| * /hironx/collada_model_filepath: /home/pazeshun/ro... | |
| * /left/ImageSensorROSBridge_HandLeft/frame_id: /CAMERA_HAND_L | |
| * /left/ImageSensorROSBridge_HeadLeft/frame_id: /CAMERA_HEAD_L | |
| * /right/ImageSensorROSBridge_HandRight/frame_id: /CAMERA_HAND_R | |
| * /right/ImageSensorROSBridge_HeadRight/frame_id: /CAMERA_HEAD_R | |
| * /robot_description: <?xml version="1.... | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.5 | |
| * /rtmnameserver_host: localhost | |
| * /rtmnameserver_port: 15005 | |
| * /rtmnameserver_robotname: HiroNX(Robot)0 | |
| * /use_sim_time: True | |
| NODES | |
| /left/ | |
| ImageSensorROSBridge_HandLeft (hrpsys_ros_bridge/ImageSensorROSBridge) | |
| ImageSensorROSBridge_HeadLeft (hrpsys_ros_bridge/ImageSensorROSBridge) | |
| /right/ | |
| ImageSensorROSBridge_HandRight (hrpsys_ros_bridge/ImageSensorROSBridge) | |
| ImageSensorROSBridge_HeadRight (hrpsys_ros_bridge/ImageSensorROSBridge) | |
| / | |
| CollisionDetectorComp (hrpsys/CollisionDetectorComp) | |
| DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) | |
| ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) | |
| HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) | |
| HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) | |
| SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) | |
| StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) | |
| 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 (hironx_ros_bridge/hironx.py) | |
| hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) | |
| hrpsys_state_publisher (robot_state_publisher/state_publisher) | |
| modelloader (openhrp3/openhrp-model-loader) | |
| rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) | |
| rtmlaunch_hironx_ros_bridge_simulation (openrtm_tools/rtmlaunch.py) | |
| rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) | |
| sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py) | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtconnect | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| WARNING: unrecognized tag rtactivate | |
| auto-starting new master | |
| process[master]: started with pid [6121] | |
| ROS_MASTER_URI=http://localhost:11311 | |
| setting /run_id to b29ba862-77b1-11ea-a3fb-0242ac110002 | |
| process[rosout-1]: started with pid [6132] | |
| started core service [/rosout] | |
| process[modelloader-2]: started with pid [6139] | |
| ready | |
| process[hrpsys-3]: started with pid [6144] | |
| process[hrpsys_py-4]: started with pid [6145] | |
| process[HrpsysSeqStateROSBridge-5]: started with pid [6146] | |
| process[HrpsysJointTrajectoryBridge-6]: started with pid [6152] | |
| process[hrpsys_state_publisher-7]: started with pid [6159] | |
| process[hrpsys_ros_diagnostics-8]: started with pid [6165] | |
| [ WARN] [1586141570.685104889]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead | |
| process[diagnostic_aggregator-9]: started with pid [6174] | |
| loading file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| process[hrpsys_profile-10]: started with pid [6179] | |
| process[sensor_ros_bridge_connect-11]: started with pid [6185] | |
| process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [6191] | |
| process[SequencePlayerServiceROSBridge-13]: started with pid [6197] | |
| process[DataLoggerServiceROSBridge-14]: started with pid [6203] | |
| [ WARN] [1586141571.125990459]: [HrpsysSeqStateROSBridge] use_hrpsys_time | |
| Collada Warning: fill asset info | |
| loading file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| [ INFO] [1586141571.212907142]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| loading file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| process[ForwardKinematicsServiceROSBridge-15]: started with pid [6219] | |
| Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| process[StateHolderServiceROSBridge-16]: started with pid [6240] | |
| The model was successfully loaded ! | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) | |
| duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) | |
| duplicated sensor Id is specified(id = 1, name = rhsensor) | |
| duplicated sensor Id is specified(id = 0, name = lhsensor) | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| [ INFO] [1586141571.572466543]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done | |
| process[CollisionDetectorComp-17]: started with pid [6260] | |
| [sensor_ros_bridge_connect.py] start | |
| [rtm.py] configuration ORB with localhost:15005 | |
| [rtm.py] configuration RTCManager with localhost:2810 | |
| [sensor_ros_bridge_connect.py] initSensorRosBridgeConnection | |
| [sensor_ros_bridge_connect.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code | |
| process[rtmlaunch_collision_detector-18]: started with pid [6261] | |
| process[collision_state-19]: started with pid [6265] | |
| process[rtmlaunch_hironx_ros_bridge_simulation-20]: started with pid [6266] | |
| process[right/ImageSensorROSBridge_HeadRight-21]: started with pid [6267] | |
| Collada Warning: fill asset info | |
| process[left/ImageSensorROSBridge_HeadLeft-22]: started with pid [6275] | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| process[right/ImageSensorROSBridge_HandRight-23]: started with pid [6282] | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| process[left/ImageSensorROSBridge_HandLeft-24]: started with pid [6293] | |
| [ WARN] [1586141572.416566615]: The root link WAIST has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [CollisionDetector0] onInitialize() | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| The model was successfully loaded ! | |
| [rtm.py] trying to findRTCManager on port2810 | |
| [sensor_ros_bridge_connect.py] wait for RTCmanager : 46405e9dcc2a | |
| [sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f7d46a14d70> ( timeout 0 < 10) | |
| [sensor_ros_bridge_connect.py] findComps -> HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f7d46a14d70> isActive? = False | |
| [sensor_ros_bridge_connect.py] simulation_mode : True | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| can't find a sensor(CAMERA_HAND_R) | |
| can't find a sensor(CAMERA_HAND_L) | |
| loading file:///home/pazeshun/ros/jsk_demo_ws/devel/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node BODY | |
| The model was successfully loaded ! | |
| [Vclip] build finished, vcliip mesh of WAIST, 93 -> 93 | |
| [Vclip] build finished, vcliip mesh of CHEST_JOINT0, 228 -> 228 | |
| [Vclip] build finished, vcliip mesh of HEAD_JOINT0, 101 -> 101 | |
| [Vclip] build finished, vcliip mesh of HEAD_JOINT1, 318 -> 318 | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT0, 61 -> 61 | |
| Collada Warning: fill asset info | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT1, 162 -> 162 | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT2, 76 -> 76 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT3, 96 -> 96 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT4, 124 -> 124 | |
| [Vclip] build finished, vcliip mesh of RARM_JOINT5, 27 -> 27 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of RHAND_JOINT0, 28 -> 28 | |
| [Vclip] build finished, vcliip mesh of RHAND_JOINT1, 24 -> 24 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of RHAND_JOINT2, 28 -> 28 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of RHAND_JOINT3, 24 -> 24 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT0, 61 -> 61 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT1, 162 -> 162 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint RHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT2, 76 -> 76 | |
| Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT3, 96 -> 96 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT4, 124 -> 124 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LARM_JOINT5, 27 -> 27 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LHAND_JOINT0, 28 -> 28 | |
| [Vclip] build finished, vcliip mesh of LHAND_JOINT1, 24 -> 24 | |
| Collada Warning: joint LHAND_JOINT1 has axis: 0.000000 0.000000 1.000000 | |
| [Vclip] build finished, vcliip mesh of LHAND_JOINT2, 28 -> 28 | |
| Collada Warning: joint LHAND_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: generate normals from vertices | |
| [Vclip] build finished, vcliip mesh of LHAND_JOINT3, 24 -> 24 | |
| [CollisionDetector0] prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 | |
| [CollisionDetector0] check collisions between RARM_JOINT2 and LARM_JOINT2 | |
| [CollisionDetector0] check collisions between RARM_JOINT3 and LARM_JOINT3 | |
| [CollisionDetector0] check collisions between RARM_JOINT4 and LARM_JOINT4 | |
| [CollisionDetector0] check collisions between RARM_JOINT5 and LARM_JOINT5 | |
| Collada Warning: generate normals from vertices | |
| Collada Warning: joint LHAND_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LHAND_JOINT2 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000 | |
| Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000 | |
| The model was successfully loaded ! | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R) | |
| duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L) | |
| duplicated sensor Id is specified(id = 1, name = rhsensor) | |
| duplicated sensor Id is specified(id = 0, name = lhsensor) | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| 0 physical force sensor : lhsensor | |
| 1 physical force sensor : rhsensor | |
| [ INFO] [1586141573.580925718]: [HrpsysSeqStateROSBridge] Loaded HiroNX | |
| [ INFO] [1586141573.581663944]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done | |
| [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x7f7d46a14eb0> | |
| [rtmlaunch] starting... /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch | |
| [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 | |
| [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 | |
| [rtmlaunch] starting... /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/launch/hironx_ros_bridge_simulation.launch | |
| [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 | |
| [rtmlaunch] SIMULATOR_NAME Simulator | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| corrupted double-linked list | |
| [rtmlaunch] Could not start rtmlaunch.py, Caught exception ([rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) | |
| CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) | |
| [rtmlaunch] .. Could not connect to NameServer at localhost:15005 , Caught exception ( [rtmlaunch] .. Could not connect to NameServer at CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) | |
| localhost:15005 , Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) ) | |
| [rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/` | |
| [rtmlaunch] .. You can check with `rtls localhost:15005/` | |
| [rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/` | |
| [rtmlaunch] .. You can check with `rtls localhost:15005/` | |
| [hrpsys-3] process has died [pid 6144, exit code -6, cmd /home/pazeshun/ros/jsk_demo_ws/devel/lib/hrpsys/hrpsys-simulator /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx_nosim.xml -o manager.is_master:YES -o corba.master_manager:localhost:2810 -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/pazeshun/ros/jsk_demo_ws/devel/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ForwardKinematics.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ImpedanceController.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AutoBalancer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.StateHolder.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueFilter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueController.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoEstimator.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoLimiter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.VirtualForceSensor.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AbsoluteForceSensor.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.KalmanFilter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.Stabilizer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.CollisionDetector.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.SoftErrorLimiter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.HGcontroller.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.PDcontroller.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.EmergencyStopper.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ReferenceForceUpdater.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ObjectContactTurnaroundDetector.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RobotHardware.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf __name:=hrpsys __log:=/home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/hrpsys-3.log]. | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/hrpsys-3*.log | |
| [hrpsys-3] restarting process | |
| process[hrpsys-3]: started with pid [6417] | |
| [rtmlaunch] starting... /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/collision_detector.launch | |
| [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 | |
| [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 | |
| [rtmlaunch] check connection/activation | |
| [rtmlaunch_hironx_ros_bridge_simulation-20] process has finished cleanly | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/rtmlaunch_hironx_ros_bridge_simulation-20*.log | |
| [rtmlaunch] Wait for /localhost:15005/HiroNX(Robot)0.rtc:q 0 /30 | |
| [rtmlaunch_hrpsys_ros_bridge-12] process has finished cleanly | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/rtmlaunch_hrpsys_ros_bridge-12*.log | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| can't find a sensor(CAMERA_HAND_R) | |
| can't find a sensor(CAMERA_HAND_L) | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/devel/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [rtm.py] configuration ORB with localhost:15005 | |
| [rtm.py] configuration RTCManager with localhost:2810 | |
| [rtm.py] trying to findRTCManager on port2810 | |
| [WARN] [1586141575.833590, 0.000000]: CollisionDetector(CollisionDetector0) is not activated, waiting... | |
| [rtmlaunch] Wait for /localhost:15005/HiroNX(Robot)0.rtc:q 1 /30 | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [WARN] [1586141576.841352, 0.000000]: CollisionDetector(CollisionDetector0) is not activated, waiting... | |
| [rtm.py] configuration ORB with localhost:15005 | |
| [rtm.py] configuration RTCManager with localhost:2810 | |
| [hrpsys.py] waiting ModelLoader | |
| [hrpsys.py] start hrpsys | |
| [hrpsys.py] finding RTCManager and RobotHardware | |
| [hrpsys.py] waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code | |
| [rtmlaunch] Wait for /localhost:15005/HiroNX(Robot)0.rtc:q 2 /30 | |
| [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q | |
| [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qCurrent | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q | |
| [rtmlaunch] to localhost:15005/CollisionDetector0.rtc:qRef | |
| [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} | |
| [rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc | |
| [CollisionDetector0] onActivated(0) | |
| [CollisionDetector0] [1.765000] set safe posture | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [INFO] [1586141577.849366, 0.000000]: bodyinfo URL = file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| [rtm.py] trying to findRTCManager on port2810 | |
| [hrpsys.py] wait for RTCmanager : None | |
| [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f0d175b4e10> ( timeout 0 < 10) | |
| [hrpsys.py] findComps -> HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f0d175b4e10> isActive? = True | |
| [hrpsys.py] simulation_mode : True | |
| [hrpsys.py] Hrpsys controller version info: | |
| [hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7f0d175b4eb0> | |
| [hrpsys.py] ref = <RTM._objref_Manager object at 0x7f0d0cab0b90> | |
| Traceback (most recent call last): | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/scripts/hironx.py", line 82, in <module> | |
| robot.init(robotname=args.robot, url=args.modelfile) | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py", line 345, in init | |
| if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0: | |
| File "/opt/ros/melodic/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/Manager_idl.py", line 178, in get_component_profiles | |
| return self._obj.invoke("get_component_profiles", _0_RTM.Manager._d_get_component_profiles, args) | |
| omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) | |
| [hrpsys-3] process has died [pid 6417, exit code -11, cmd /home/pazeshun/ros/jsk_demo_ws/devel/lib/hrpsys/hrpsys-simulator /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx_nosim.xml -o manager.is_master:YES -o corba.master_manager:localhost:2810 -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/pazeshun/ros/jsk_demo_ws/devel/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ForwardKinematics.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ImpedanceController.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AutoBalancer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.StateHolder.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueFilter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.TorqueController.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoEstimator.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ThermoLimiter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.VirtualForceSensor.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.AbsoluteForceSensor.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.KalmanFilter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.Stabilizer.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.CollisionDetector.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.SoftErrorLimiter.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.HGcontroller.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.PDcontroller.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.EmergencyStopper.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ReferenceForceUpdater.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.ObjectContactTurnaroundDetector.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf -o example.RobotHardware.config_file:/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/conf/kawada-hironx.conf __name:=hrpsys __log:=/home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/hrpsys-3.log]. | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/hrpsys-3*.log | |
| [hrpsys_py-4] process has finished cleanly | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/hrpsys_py-4*.log | |
| [hrpsys-3] restarting process | |
| process[hrpsys-3]: started with pid [6459] | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae | |
| Warning: Model HiroNX has empty joint ID in the valid IDs. | |
| can't find a sensor(CAMERA_HAND_R) | |
| can't find a sensor(CAMERA_HAND_L) | |
| cache found for file:///home/pazeshun/ros/jsk_demo_ws/devel/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| Traceback (most recent call last): | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 13, in <module> | |
| rtmlaunch.main() | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/src/openrtm_tools/rtmlaunch.py", line 255, in main | |
| tree.add_name_server(nameserver, []) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/tree.py", line 131, in add_name_server | |
| self._parse_name_server(server, filter, dynamic=dynamic) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/tree.py", line 285, in _parse_name_server | |
| trim_filter(deepcopy(filter), 2), dynamic=dynamic) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/nameserver.py", line 54, in __init__ | |
| self._parse_server(address, orb, filter) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/nameserver.py", line 79, in _parse_server | |
| self._parse_context(root_context, orb, filter) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/directory.py", line 111, in _parse_context | |
| self._process_binding(binding, orb, filter) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/directory.py", line 190, in _process_binding | |
| filter=trimmed_filter) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/directory.py", line 111, in _parse_context | |
| self._process_binding(binding, orb, filter) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/directory.py", line 142, in _process_binding | |
| leaf = Manager(name, self, obj, dynamic=self.dynamic) | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/manager.py", line 55, in __init__ | |
| self._parse() | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/manager.py", line 318, in _parse | |
| self._parse_children() | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/manager.py", line 323, in _parse_children | |
| self._parse_component_children() | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/manager.py", line 330, in _parse_component_children | |
| comps = self._obj.get_components() | |
| File "/home/pazeshun/ros/jsk_demo_ws/devel/lib/python2.7/dist-packages/rtctree/rtmidl/Manager_idl.py", line 175, in get_components | |
| return self._obj.invoke("get_components", _0_RTM.Manager._d_get_components, args) | |
| omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) | |
| [rtmlaunch_collision_detector-18] process has died [pid 6261, exit code 1, cmd /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/collision_detector.launch __name:=rtmlaunch_collision_detector __log:=/home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/rtmlaunch_collision_detector-18.log]. | |
| log file: /home/pazeshun/.ros/log/b29ba862-77b1-11ea-a3fb-0242ac110002/rtmlaunch_collision_detector-18*.log | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| ^C[sensor_ros_bridge_connect.py] wait for 'sh' : None | |
| [left/ImageSensorROSBridge_HandLeft-24] killing on exit | |
| [right/ImageSensorROSBridge_HandRight-23] killing on exit | |
| [left/ImageSensorROSBridge_HeadLeft-22] killing on exit | |
| [right/ImageSensorROSBridge_HeadRight-21] killing on exit | |
| [collision_state-19] killing on exit | |
| [CollisionDetectorComp-17] killing on exit | |
| [StateHolderServiceROSBridge-16] killing on exit | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| [ForwardKinematicsServiceROSBridge-15] killing on exit | |
| [DataLoggerServiceROSBridge-14] killing on exit | |
| [SequencePlayerServiceROSBridge-13] 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' | |
| [CollisionDetector0] onDeactivated(0) | |
| 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' | |
| ^C^C[sensor_ros_bridge_connect-11] killing on exit | |
| Traceback (most recent call last): | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 78, in <module> | |
| initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4], sys.argv[5], sys.argv[6], sys.argv[7]) | |
| File "/home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 60, in initSensorRosBridgeConnection | |
| time.sleep(1); | |
| KeyboardInterrupt | |
| [hrpsys_profile-10] killing on exit | |
| [diagnostic_aggregator-9] killing on exit | |
| [hrpsys_ros_diagnostics-8] killing on exit | |
| [hrpsys_state_publisher-7] killing on exit | |
| [HrpsysSeqStateROSBridge-5] killing on exit | |
| [HrpsysJointTrajectoryBridge-6] killing on exit | |
| [ INFO] [1586141617.318520341]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0 | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| terminate called after throwing an instance of 'CORBA::COMM_FAILURE' | |
| [hrpsys-3] killing on exit | |
| [modelloader-2] killing on exit | |
| terminate called after throwing an instance of 'class_loader::LibraryUnloadException' | |
| what(): Attempt to unload library that class_loader is unaware of. | |
| [rosout-1] killing on exit | |
| [master] killing on exit | |
| shutting down processing monitor... | |
| ... shutting down processing monitor complete | |
| done | |
| [rtmlaunch] terminate omniNames at port 15005 |
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