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pazeshun/log_success_hironx_ros_bridge_simulation

Created April 6, 2020 02:52
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log_success_hironx_ros_bridge_simulation
$ 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 02:49:38.033956: Data file: '/tmp/omninames-46405e9dcc2a.dat'.
omniNames: (0) 2020-04-06 02:49:38.035795: Read data file '/tmp/omninames-46405e9dcc2a.dat' successfully.
omniNames: (0) 2020-04-06 02:49:38.035822: Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000b0000003137322e31372e302e3200009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000009cd0865e010000bc
omniNames: (0) 2020-04-06 02:49:38.035880: Checkpointing Phase 1: Prepare.
omniNames: (0) 2020-04-06 02:49:38.036440: Checkpointing Phase 2: Commit.
omniNames: (0) 2020-04-06 02:49:38.036568: Checkpointing completed.
... logging to /home/pazeshun/.ros/log/42220cac-77b1-11ea-8aef-0242ac110002/roslaunch-46405e9dcc2a-5614.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:33701/
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 [5626]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 42220cac-77b1-11ea-8aef-0242ac110002
process[rosout-1]: started with pid [5637]
started core service [/rosout]
process[modelloader-2]: started with pid [5644]
ready
process[hrpsys-3]: started with pid [5649]
process[hrpsys_py-4]: started with pid [5650]
process[HrpsysSeqStateROSBridge-5]: started with pid [5651]
process[HrpsysJointTrajectoryBridge-6]: started with pid [5657]
process[hrpsys_state_publisher-7]: started with pid [5664]
process[hrpsys_ros_diagnostics-8]: started with pid [5671]
[ WARN] [1586141381.847310172]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
process[diagnostic_aggregator-9]: started with pid [5679]
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 [5689]
process[sensor_ros_bridge_connect-11]: started with pid [5700]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [5702]
loading file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
process[SequencePlayerServiceROSBridge-13]: started with pid [5704]
Collada Warning: fill asset info
[ WARN] [1586141382.282787319]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1586141382.343821605]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
process[DataLoggerServiceROSBridge-14]: started with pid [5711]
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
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
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
process[ForwardKinematicsServiceROSBridge-15]: started with pid [5725]
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 [5742]
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] [1586141382.649528524]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[CollisionDetectorComp-17]: started with pid [5765]
[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 [5766]
Collada Warning: fill asset info
process[collision_state-19]: started with pid [5770]
process[rtmlaunch_hironx_ros_bridge_simulation-20]: started with pid [5773]
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
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
process[right/ImageSensorROSBridge_HeadRight-21]: started with pid [5774]
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_HeadLeft-22]: started with pid [5776]
process[right/ImageSensorROSBridge_HandRight-23]: started with pid [5787]
The model was successfully loaded !
process[left/ImageSensorROSBridge_HandLeft-24]: started with pid [5794]
[ WARN] [1586141383.526870289]: 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
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 !
Warning: Model HiroNX has empty joint ID in the valid IDs.
[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 : None ( timeout 0 < 10)
Collada Warning: fill asset info
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
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
[Vclip] build finished, vcliip mesh of WAIST, 93 -> 93
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
[Vclip] build finished, vcliip mesh of CHEST_JOINT0, 228 -> 228
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
[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
[Vclip] build finished, vcliip mesh of RARM_JOINT1, 162 -> 162
[Vclip] build finished, vcliip mesh of RARM_JOINT2, 76 -> 76
[Vclip] build finished, vcliip mesh of RARM_JOINT3, 96 -> 96
[Vclip] build finished, vcliip mesh of RARM_JOINT4, 124 -> 124
[Vclip] build finished, vcliip mesh of RARM_JOINT5, 27 -> 27
[Vclip] build finished, vcliip mesh of RHAND_JOINT0, 28 -> 28
[Vclip] build finished, vcliip mesh of RHAND_JOINT1, 24 -> 24
[Vclip] build finished, vcliip mesh of RHAND_JOINT2, 28 -> 28
[Vclip] build finished, vcliip mesh of RHAND_JOINT3, 24 -> 24
[Vclip] build finished, vcliip mesh of LARM_JOINT0, 61 -> 61
[Vclip] build finished, vcliip mesh of LARM_JOINT1, 162 -> 162
[Vclip] build finished, vcliip mesh of LARM_JOINT2, 76 -> 76
[Vclip] build finished, vcliip mesh of LARM_JOINT3, 96 -> 96
[Vclip] build finished, vcliip mesh of LARM_JOINT4, 124 -> 124
[Vclip] build finished, vcliip mesh of LARM_JOINT5, 27 -> 27
[Vclip] build finished, vcliip mesh of LHAND_JOINT0, 28 -> 28
[Vclip] build finished, vcliip mesh of LHAND_JOINT1, 24 -> 24
[Vclip] build finished, vcliip mesh of LHAND_JOINT2, 28 -> 28
[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
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] [1586141384.865937744]: [HrpsysSeqStateROSBridge] Loaded HiroNX
[ INFO] [1586141384.867234839]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fac813b8d20> ( timeout 1 < 10)
[sensor_ros_bridge_connect.py] findComps -> HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fac813b8d20> isActive? = True
[sensor_ros_bridge_connect.py] simulation_mode : True
[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
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:tau
[rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 0 /30
[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] 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
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R
[rtmlaunch] to localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage
[rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_L
[rtmlaunch] to localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage
[rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_R , /localhost:15005/ImageSensorROSBridge_HandRight.rtc:timedImage ): 'NoneType' object has no attribute 'connections'
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HeadRight.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HandRight.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HandLeft.rtc
[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] [2.655000] set safe posture
[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
[INFO] [1586141387.293223, 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
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 2 /30
[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
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 3 /30
[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 0x7f583470de10> ( timeout 0 < 10)
[hrpsys.py] findComps -> HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f583470de10> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py] Hrpsys controller version info:
[hrpsys.py] ms = <hrpsys.rtm.RTCmanager instance at 0x7f583470deb0>
[hrpsys.py] ref = <RTM._objref_Manager object at 0x7f5829c09b50>
[ WARN] [1586141389.785469363]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[hrpsys.py] version = 315.15.0
[hrpsys.py] 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
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[hrpsys.py] no hrpsys components found running. creating now
[ WARN] [1586141390.100018296]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
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.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f5834d06140> (315.15.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService object at 0x7f582a489a90>
[hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[sh] onInitialize()
cache found for file:///home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f582a4adeb0> (315.15.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService object at 0x7f582a4729d0>
[hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[fk] onInitialize()
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.
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.
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f582a4ad0f0> (315.15.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService object at 0x7f582a49b610>
[hrpsys.py] eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[ic] onInitialize()
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.
[ic] force sensor ports
[ic] name = lhsensor
[ic] name = rhsensor
[ic] End Effector [rarm]RARM_JOINT5 CHEST_JOINT0
[ic] target = RARM_JOINT5, base = CHEST_JOINT0
[ic] localPos = [0, 0, 0][m]
[ic] localR = [1.40361e-09, 7.01805e-10, 1]
[ 1, 1.40361e-09, 7.01805e-10]
[7.01805e-10, 1, 1.40361e-09]
[ic] End Effector [larm]LARM_JOINT5 CHEST_JOINT0
[ic] target = LARM_JOINT5, base = CHEST_JOINT0
[ic] localPos = [0, 0, 0][m]
[ic] localR = [1.40361e-09, 7.01805e-10, 1]
[ 1, 1.40361e-09, 7.01805e-10]
[7.01805e-10, 1, 1.40361e-09]
[ic] Add impedance params
[ic] sensor = lhsensor, sensor-link = LARM_JOINT5, ee_name = larm, ee-link = LARM_JOINT5
[ic] sensor = rhsensor, sensor-link = RARM_JOINT5, ee_name = rarm, ee-link = RARM_JOINT5
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f5834d06190> (315.15.0)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService object at 0x7f582a47dfd0>
[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/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.
[el] Do not load joint limit table
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f58345a9be0> (315.15.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService object at 0x7f582a4957d0>
[hrpsys.py] eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[WARNING] sc: needs servo.devname property
[WARNING] sc: running in dummy mode
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7f5828f6d7d0> (315.15.0)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService object at 0x7f5829bf6150>
[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 0x7f5828f725a0> (315.15.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService object at 0x7f5829bf6d10>
[hrpsys.py] eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[rmfo] onInitialize()
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.
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f58345a9c80> (315.15.0)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService object at 0x7f582a495450>
[hrpsys.py] connecting hrpsys components
[rtm.py] Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect ic.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect el.q - HGcontroller0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.rhsensorRef - sh.rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.lhsensorRef - sh.lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.rhsensorOut - ic.ref_rhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.lhsensorOut - ic.ref_lhsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.rhsensor - rmfo.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect rmfo.off_rhsensor - ic.rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.lhsensor - rmfo.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect rmfo.off_lhsensor - ic.lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect HiroNX(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating hrpsys components
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 4 /30
[sensor_ros_bridge_connect.py] wait for 'sh' : <hrpsys.rtm.RTcomponent instance at 0x7fac813a3050>
[fk] onActivated(1000)
[ic] onActivated(1000)
[el] onActivated(1000)
[rmfo] onActivated(1000)
[hrpsys.py] setup hrpsys logger
[log] Log max length is set to 4000
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to HiroNX(Robot)0_q
[rtm.py] Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tau to HiroNX(Robot)0_tau
[rtm.py] Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py] setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_R to HiroNX(Robot)0_CAMERA_HEAD_R
[rtm.py] Failed to connect HiroNX(Robot)0.CAMERA_HEAD_R to None([None])
[hrpsys.py] setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_L to HiroNX(Robot)0_CAMERA_HEAD_L
[rtm.py] Failed to connect HiroNX(Robot)0.CAMERA_HEAD_L to None([None])
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensor to HiroNX(Robot)0_rhsensor
[rtm.py] Connect HiroNX(Robot)0.rhsensor - log.HiroNX(Robot)0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensor to HiroNX(Robot)0_lhsensor
[rtm.py] Connect HiroNX(Robot)0.lhsensor - log.HiroNX(Robot)0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py] Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py] Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py] Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[rtm.py] Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py] Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py] Connect el.q - log.el_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py] Connect HiroNX(Robot)0.emergencySignal - log.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedLongSeqSeq, name = servoState to HiroNX(Robot)0_servoState
[rtm.py] Connect HiroNX(Robot)0.servoState - log.HiroNX(Robot)0_servoState (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 5 /30
[rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService
[rtmlaunch] to localhost:15005/sh.rtc:StateHolderService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/sh.rtc:baseTformOut
[rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
[rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', 'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensorOut to sh_rhsensorOut
[rtm.py] Connect sh.rhsensorOut - log.sh_rhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensorOut to sh_lhsensorOut
[sensor_ros_bridge_connect.py] connecSensorRosBridgePort( /home/pazeshun/ros/jsk_demo_ws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae , HiroNX(Robot)0 )
[sensor_ros_bridge_connect.py] 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
[sensor_ros_bridge_connect.py] sensor(name: CAMERA_HEAD_R , type: Vision )
[sensor_ros_bridge_connect.py] sensor(name: CAMERA_HEAD_L , type: Vision )
[sensor_ros_bridge_connect.py] sensor(name: rhsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( rhsensor ) = <RTC._objref_PortService object at 0x7fac8012ea10>
[sensor_ros_bridge_connect.py] connect rhsensor HiroNX(Robot)0.rhsensor HrpsysSeqStateROSBridge0.rhsensor
[rtm.py] Connect HiroNX(Robot)0.rhsensor - HrpsysSeqStateROSBridge0.rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] connect rhsensor rmfo.off_rhsensor HrpsysSeqStateROSBridge0.off_rhsensor
[rtm.py] Connect sh.lhsensorOut - log.sh_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect rmfo.off_rhsensor - HrpsysSeqStateROSBridge0.off_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] connect rhsensor sh.rhsensorOut HrpsysSeqStateROSBridge0.ref_rhsensor
[rtm.py] Connect sh.rhsensorOut - HrpsysSeqStateROSBridge0.ref_rhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] sensor(name: lhsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( lhsensor ) = <RTC._objref_PortService object at 0x7fac8012ea50>
[sensor_ros_bridge_connect.py] connect lhsensor HiroNX(Robot)0.lhsensor HrpsysSeqStateROSBridge0.lhsensor
[rtm.py] Connect HiroNX(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] connect lhsensor rmfo.off_lhsensor HrpsysSeqStateROSBridge0.off_lhsensor
[rtm.py] Connect rmfo.off_lhsensor - HrpsysSeqStateROSBridge0.off_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] connect lhsensor sh.lhsensorOut HrpsysSeqStateROSBridge0.ref_lhsensor
[rtm.py] Connect sh.lhsensorOut - HrpsysSeqStateROSBridge0.ref_lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_rhsensor to rmfo_off_rhsensor
[rtm.py] Connect rmfo.off_rhsensor - log.rmfo_off_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[sensor_ros_bridge_connect-11] process has finished cleanly
log file: /home/pazeshun/.ros/log/42220cac-77b1-11ea-8aef-0242ac110002/sensor_ros_bridge_connect-11*.log
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = off_lhsensor to rmfo_off_lhsensor
[rtm.py] Connect rmfo.off_lhsensor - log.rmfo_off_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[log] Log cleared
[hrpsys.py] setup joint groups for hrpsys controller
[addJointGroup] group name = torso
[addJointGroup] group name = head
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[hrpsys.py] initialized successfully
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[rtmlaunch] Connected from localhost:15005/sh.rtc:qOut
[rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
[rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', '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] Activate <- Inactive /localhost:15005/HrpsysSeqStateROSBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysJointTrajectoryBridge0.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/DataLoggerServiceROSBridge.rtc
[ INFO] [1586141392.559265693]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1586141392.559715289]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
[rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc
[ WARN] [1586141392.576643356]: std::__cxx11::string GetHrpsysVersion(RTC::CorbaPort&) Connected to SequencePlayer (seq) version 315.15.0
[ INFO] [1586141392.578920251]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0)
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[INFO] [1586141392.642352, 8.400000]: check 4 collision status, 0.476190 Hz
[ INFO] [1586141392.684593463, 8.434999999]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1586141392.684654389, 8.434999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[ INFO] [1586141392.755095842, 8.469999999]: ADD_GROUP: head (/head_controller)
[ INFO] [1586141392.755202889, 8.469999999]: JOINT: HEAD_JOINT0 HEAD_JOINT1
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[ INFO] [1586141392.816007359, 8.514999999]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1586141392.816058153, 8.514999999]: JOINT: CHEST_JOINT0
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[ INFO] [1586141392.904164011, 8.579999999]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1586141392.904238108, 8.579999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
[addJointGroup] group name = larm_torso
[ INFO] [1586141392.986039733, 8.629999999]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1586141392.986164093, 8.629999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
[addJointGroup] group name = rarm_torso
[ WARN] [1586141393.044343994, 8.674999999]: std::__cxx11::string GetHrpsysVersion(RTC::CorbaPort&) Connected to SequencePlayer (seq) version 315.15.0
[ERROR] [1586141393.089856687, 8.719999999]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1586141393.092205573, 8.719999999]: Loading robot model 'HiroNX'...
[ INFO] [1586141393.092643582, 8.719999999]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1586141393.580917581, 9.345000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 207[Hz] (exec 1194 Hz, dropped 207)
[INFO] [1586141394.045198, 9.675000]: Joint names; Torso: ['CHEST_JOINT0']
Head: ['HEAD_JOINT0', 'HEAD_JOINT1']
L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
[WARN] [1586141394.048068, 9.675000]: Moveit is not started yet, if you want to use MoveIt!
Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)
[hrpsys_py-4] process has finished cleanly
log file: /home/pazeshun/.ros/log/42220cac-77b1-11ea-8aef-0242ac110002/hrpsys_py-4*.log
[ INFO] [1586141394.583628382, 10.355000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz] (exec 1361 Hz, dropped 202)
[ WARN] [1586141394.794320275, 10.505000000]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141395.101235048, 10.730000000]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141395.604876735, 11.360000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1442 Hz, dropped 201)
[ INFO] [1586141396.610637385, 12.360000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1420 Hz, dropped 200)
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
[ INFO] [1586141397.612850740, 13.325000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 194[Hz] (exec 1279 Hz, dropped 194)
[INFO] [1586141397.689378, 13.415000]: check 4 collision status, 0.797607 Hz
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_R , /localhost:15005/ImageSensorROSBridge_HandRight.rtc:timedImage ): 'NoneType' object has no attribute 'connections'
[ INFO] [1586141398.615326375, 14.325000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 199[Hz] (exec 1338 Hz, dropped 199)
[ INFO] [1586141399.619839226, 15.325000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1435 Hz, dropped 200)
[ WARN] [1586141399.801704822, 15.490000000]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141400.105761262, 15.690000000]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141400.621034029, 16.315000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1417 Hz, dropped 198)
[ INFO] [1586141401.632074359, 17.300000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1465 Hz, dropped 198)
[ INFO] [1586141402.634628745, 18.310000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1376 Hz, dropped 201)
[INFO] [1586141402.760157, 18.425000]: check 4 collision status, 0.798403 Hz
[rtmlaunch] check connection/activation
[ INFO] [1586141403.636192289, 19.305000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 199[Hz] (exec 1351 Hz, dropped 199)
[ INFO] [1586141404.652549672, 20.220000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 183[Hz] (exec 1325 Hz, dropped 183)
[ WARN] [1586141404.804922771, 20.385000000]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141405.113942745, 20.650000000]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141405.665408523, 21.235000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 203[Hz] (exec 1119 Hz, dropped 203)
[ INFO] [1586141406.671341086, 22.244999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz] (exec 1314 Hz, dropped 202)
[ INFO] [1586141407.676108474, 23.249999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1277 Hz, dropped 201)
[INFO] [1586141407.833405, 23.450000]: check 4 collision status, 0.796813 Hz
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_R , /localhost:15005/ImageSensorROSBridge_HandRight.rtc:timedImage ): 'NoneType' object has no attribute 'connections'
[ INFO] [1586141408.691119670, 24.259999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz] (exec 1457 Hz, dropped 202)
[ INFO] [1586141409.691494041, 25.254999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 199[Hz] (exec 1316 Hz, dropped 199)
[ WARN] [1586141409.810711483, 25.419999999]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141410.121028404, 25.654999999]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141410.693549676, 26.259999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1367 Hz, dropped 201)
[ INFO] [1586141411.694611478, 27.214999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 192[Hz] (exec 1236 Hz, dropped 192)
[ INFO] [1586141412.697080116, 28.199999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 196[Hz] (exec 1189 Hz, dropped 196)
[INFO] [1586141412.832707, 28.465000]: check 4 collision status, 0.796813 Hz
[rtmlaunch] check connection/activation
[ INFO] [1586141413.703668127, 29.189999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1218 Hz, dropped 198)
[ INFO] [1586141414.707769165, 30.149999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 192[Hz] (exec 1155 Hz, dropped 192)
[ WARN] [1586141414.811215301, 30.334999999]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141415.130408354, 30.664999999]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141415.711669228, 31.149999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1353 Hz, dropped 200)
[ INFO] [1586141416.732021789, 32.139999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1428 Hz, dropped 198)
[ INFO] [1586141417.734496033, 33.129999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1363 Hz, dropped 198)
[INFO] [1586141417.958052, 33.500000]: check 4 collision status, 0.794439 Hz
[ INFO] [1586141418.738582395, 34.134999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1095 Hz, dropped 201)
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_R , /localhost:15005/ImageSensorROSBridge_HandRight.rtc:timedImage ): 'NoneType' object has no attribute 'connections'
[ INFO] [1586141419.741452936, 35.124999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 199[Hz] (exec 1206 Hz, dropped 199)
[ WARN] [1586141419.821008295, 35.209999999]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141420.130686472, 35.664999999]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141420.742434270, 36.120000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 198[Hz] (exec 1377 Hz, dropped 198)
[ INFO] [1586141421.754791556, 37.125000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1367 Hz, dropped 201)
[ INFO] [1586141422.757399826, 38.125000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1377 Hz, dropped 200)
[INFO] [1586141422.976660, 38.505000]: check 4 collision status, 0.799201 Hz
[ INFO] [1586141423.764119351, 39.125000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1327 Hz, dropped 200)
[rtmlaunch] check connection/activation
[ INFO] [1586141424.766175917, 40.125000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1388 Hz, dropped 200)
[ WARN] [1586141424.829936466, 40.170000000]: [/ImageSensorROSBridge_HandRight] @onExecutece 0 is not executed last 5[sec]
[ WARN] [1586141425.132197277, 40.680000000]: [/ImageSensorROSBridge_HandLeft] @onExecutece 0 is not executed last 5[sec]
[ INFO] [1586141425.771299280, 41.130000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1400 Hz, dropped 201)
[ INFO] [1586141426.781074584, 42.135000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz] (exec 1255 Hz, dropped 201)
^C[ INFO] [1586141427.803919248, 43.130000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz] (exec 1340 Hz, dropped 200)
[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
[rtmlaunch_hironx_ros_bridge_simulation-20] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[collision_state-19] killing on exit
[rtmlaunch_collision_detector-18] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[CollisionDetectorComp-17] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[ForwardKinematicsServiceROSBridge-15] killing on exit
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'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
^Cterminate called after throwing an instance of 'CORBA::COMM_FAILURE'
^C[DataLoggerServiceROSBridge-14] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
^C[SequencePlayerServiceROSBridge-13] killing on exit
[rtmlaunch_hrpsys_ros_bridge-12] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[hrpsys_profile-10] killing on exit
^C[diagnostic_aggregator-9] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[hrpsys_state_publisher-7] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[HrpsysJointTrajectoryBridge-6] killing on exit
[ INFO] [1586141428.576433929, 43.275000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[ INFO] [1586141428.594847391, 43.275000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
^C[hrpsys-3] killing on exit
[HrpsysSeqStateROSBridge-5] killing on exit
[ INFO] [1586141428.635023811, 43.280000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[ INFO] [1586141428.644390296, 43.280000000]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST'
[modelloader-2] killing on exit
[ INFO] [1586141428.696196810, 43.280000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
[ INFO] [1586141428.753817494, 43.280000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
[ INFO] [1586141428.791376752, 43.280000000]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
^Cterminate called after throwing an instance of 'CORBA::COMM_FAILURE'
^C[rosout-1] killing on exit
^C[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
[rtmlaunch] terminate omniNames at port 15005
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