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pazeshun/samplerobot_log_collision_state_dies

Created April 3, 2020 07:23
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samplerobot_log_collision_state_dies
$ rtmlaunch hrpsys_ros_bridge samplerobot.launch
[rtmlaunch] default corbaport:= 15005 will be used
[rtmlaunch] Start omniNames at port 15005
omniNames: (0) 2020-04-03 06:37:57.607003: Data file: '/tmp/omninames-46405e9dcc2a.dat'.
omniNames: (0) 2020-04-03 06:37:57.609286: Read data file '/tmp/omninames-46405e9dcc2a.dat' successfully.
omniNames: (0) 2020-04-03 06:37:57.609334: Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000b0000003137322e31372e302e3200009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000009cd0865e010000bc
omniNames: (0) 2020-04-03 06:37:57.609398: Checkpointing Phase 1: Prepare.
omniNames: (0) 2020-04-03 06:37:57.610199: Checkpointing Phase 2: Commit.
omniNames: (0) 2020-04-03 06:37:57.610482: Checkpointing completed.
... logging to /home/pazeshun/.ros/log/a8b9fa3a-7575-11ea-bcbc-0242ac110002/roslaunch-46405e9dcc2a-512.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:35253/
SUMMARY
========
PARAMETERS
* /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
* /controller_configuration: [{'group_name': '...
* /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
* /diagnostic_aggregator/analyzers/computers/path: Computers
* /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
* /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
* /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
* /diagnostic_aggregator/analyzers/mode/path: Mode
* /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
* /diagnostic_aggregator/analyzers/motor/path: Motor
* /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
* /diagnostic_aggregator/base_path:
* /diagnostic_aggregator/pub_rate: 1.0
* /robot_description: <?xml version="1....
* /robot_pose_ekf/debug: False
* /robot_pose_ekf/freq: 30.0
* /robot_pose_ekf/imu_used: False
* /robot_pose_ekf/odom_used: True
* /robot_pose_ekf/output_frame: odom
* /robot_pose_ekf/self_diagnose: False
* /robot_pose_ekf/sensor_timeout: 1.0
* /robot_pose_ekf/vo_used: False
* /rosdistro: melodic
* /rosversion: 1.14.5
* /use_sim_time: True
NODES
/
CollisionDetectorServiceROSBridge (hrpsys_ros_bridge/CollisionDetectorServiceROSBridgeComp)
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)
SoftErrorLimiterServiceROSBridge (hrpsys_ros_bridge/SoftErrorLimiterServiceROSBridgeComp)
StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
base_footprint_rootlink (tf/static_transform_publisher)
collision_state (hrpsys_ros_bridge/collision_state.py)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
hrpsys (hrpsys/hrpsys-simulator)
hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
hrpsys_py (hrpsys_tools/hrpsys_tools_config.py)
hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
hrpsys_state_publisher (robot_state_publisher/state_publisher)
modelloader (openhrp3/openhrp-model-loader)
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
samplerobot_rviz (rviz/rviz)
sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag sphinxdoc
auto-starting new master
process[master]: started with pid [524]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to a8b9fa3a-7575-11ea-bcbc-0242ac110002
process[rosout-1]: started with pid [535]
started core service [/rosout]
process[modelloader-2]: started with pid [542]
ready
process[hrpsys-3]: started with pid [547]
process[hrpsys_py-4]: started with pid [548]
process[HrpsysSeqStateROSBridge-5]: started with pid [549]
process[HrpsysJointTrajectoryBridge-6]: started with pid [550]
process[hrpsys_state_publisher-7]: started with pid [560]
[ WARN] [1585895883.447943414]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
process[hrpsys_ros_diagnostics-8]: started with pid [573]
loading file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
Humanoid node
Joint node WAIST
Segment node WAIST_LINK0
Joint node WAIST_P
Segment node WAIST_LINK1
Joint node WAIST_R
Segment node WAIST_LINK2
Joint node CHEST
AccelerationSensorgsensor
Gyrogyrometer
Segment node WAIST_LINK3
VisionSensorVISION_SENSOR1
VisionSensorVISION_SENSOR2
Joint node LARM_SHOULDER_P
Segment node LARM_LINK1
Joint node LARM_SHOULDER_R
Segment node LARM_LINK2
Joint node LARM_SHOULDER_Y
Segment node LARM_LINK3
Joint node LARM_ELBOW
Segment node LARM_LINK4
Joint node LARM_WRIST_Y
Segment node LARM_LINK5
Joint node LARM_WRIST_P
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_WRIST_R
Segment node LARM_LINK7
Joint node RARM_SHOULDER_P
Segment node RARM_LINK1
Joint node RARM_SHOULDER_R
Segment node RARM_LINK2
Joint node RARM_SHOULDER_Y
Segment node RARM_LINK3
Joint node RARM_ELBOW
Segment node RARM_LINK4
Joint node RARM_WRIST_Y
Segment node RARM_LINK5
Joint node RARM_WRIST_P
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_WRIST_R
Segment node RARM_LINK7
Joint node LLEG_HIP_R
Segment node LLEG_LINK1
Joint node LLEG_HIP_P
Segment node LLEG_LINK2
Joint node LLEG_HIP_Y
Segment node LLEG_LINK3
Joint node LLEG_KNEE
Segment node LLEG_LINK4
Joint node LLEG_ANKLE_P
Segment node LLEG_LINK5
Joint node LLEG_ANKLE_R
Segment node LLEG_LINK6
ForceSensorlfsensor
Joint node RLEG_HIP_R
Segment node RLEG_LINK1
Joint node RLEG_HIP_P
Segment node RLEG_LINK2
Joint node RLEG_HIP_Y
Segment node RLEG_LINK3
Joint node RLEG_KNEE
Segment node RLEG_LINK4
Joint node RLEG_ANKLE_P
Segment node RLEG_LINK5
Joint node RLEG_ANKLE_R
Segment node RLEG_LINK6
ForceSensorrfsensor
process[diagnostic_aggregator-9]: started with pid [580]
The model was successfully loaded !
cache found for file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
duplicated sensor Id is specified(id = 2, name = lhsensor)
duplicated sensor Id is specified(id = 3, name = rhsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
duplicated sensor Id is specified(id = 0, name = VISION_SENSOR1)
duplicated sensor Id is specified(id = 1, name = VISION_SENSOR2)
duplicated sensor Id is specified(id = 0, name = lfsensor)
duplicated sensor Id is specified(id = 1, name = rfsensor)
[ INFO] [1585895883.584599195]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_profile-10]: started with pid [583]
process[sensor_ros_bridge_connect-11]: started with pid [597]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [598]
[ WARN] [1585895883.925756553]: [HrpsysSeqStateROSBridge] use_hrpsys_time
process[SequencePlayerServiceROSBridge-13]: started with pid [599]
[ INFO] [1585895884.032572274]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
cache found for file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
cache found for file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
duplicated sensor Id is specified(id = 2, name = lhsensor)
duplicated sensor Id is specified(id = 3, name = rhsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
duplicated sensor Id is specified(id = 0, name = VISION_SENSOR1)
duplicated sensor Id is specified(id = 1, name = VISION_SENSOR2)
duplicated sensor Id is specified(id = 0, name = lfsensor)
duplicated sensor Id is specified(id = 1, name = rfsensor)
0 physical force sensor : lfsensor
1 physical force sensor : rfsensor
2 physical force sensor : lhsensor
3 physical force sensor : rhsensor
0 acceleration sensor : gsensor
0 rate sensor : gyrometer
[HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_ANKLE_R WAIST
[HrpsysSeqStateROSBridge0] target = LLEG_LINK6, sensor_name = lfsensor
[HrpsysSeqStateROSBridge0] localPos = [ 0, 0, -0.07][m]
[HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_ANKLE_R WAIST
[HrpsysSeqStateROSBridge0] target = RLEG_LINK6, sensor_name = rfsensor
[HrpsysSeqStateROSBridge0] localPos = [ 0, 0, -0.07][m]
[HrpsysSeqStateROSBridge0] End Effector [larm]LARM_WRIST_P CHEST
[HrpsysSeqStateROSBridge0] target = LARM_LINK6, sensor_name = lhsensor
[HrpsysSeqStateROSBridge0] localPos = [ 0, 0, -0.12][m]
[HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_WRIST_P CHEST
[HrpsysSeqStateROSBridge0] target = RARM_LINK6, sensor_name = rhsensor
[HrpsysSeqStateROSBridge0] localPos = [ 0, 0, -0.12][m]
[ INFO] [1585895884.107709504]: [HrpsysSeqStateROSBridge] Loaded SampleRobot
[ INFO] [1585895884.108086943]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
process[DataLoggerServiceROSBridge-14]: started with pid [606]
loading file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
Segment node BODY
The model was successfully loaded !
loading file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
process[ForwardKinematicsServiceROSBridge-15]: started with pid [620]
Humanoid node
Joint node WAIST
Segment node WAIST_LINK0
Joint node WAIST_P
Segment node WAIST_LINK1
Joint node WAIST_R
Segment node WAIST_LINK2
Joint node CHEST
AccelerationSensorgsensor
Gyrogyrometer
Segment node WAIST_LINK3
VisionSensorVISION_SENSOR1
VisionSensorVISION_SENSOR2
Joint node LARM_SHOULDER_P
Segment node LARM_LINK1
Joint node LARM_SHOULDER_R
Segment node LARM_LINK2
Joint node LARM_SHOULDER_Y
Segment node LARM_LINK3
Joint node LARM_ELBOW
Segment node LARM_LINK4
Joint node LARM_WRIST_Y
Segment node LARM_LINK5
Joint node LARM_WRIST_P
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_WRIST_R
Segment node LARM_LINK7
Joint node RARM_SHOULDER_P
Segment node RARM_LINK1
Joint node RARM_SHOULDER_R
Segment node RARM_LINK2
Joint node RARM_SHOULDER_Y
Segment node RARM_LINK3
Joint node RARM_ELBOW
Segment node RARM_LINK4
Joint node RARM_WRIST_Y
Segment node RARM_LINK5
Joint node RARM_WRIST_P
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_WRIST_R
Segment node RARM_LINK7
Joint node LLEG_HIP_R
Segment node LLEG_LINK1
Joint node LLEG_HIP_P
Segment node LLEG_LINK2
Joint node LLEG_HIP_Y
Segment node LLEG_LINK3
Joint node LLEG_KNEE
Segment node LLEG_LINK4
Joint node LLEG_ANKLE_P
Segment node LLEG_LINK5
Joint node LLEG_ANKLE_R
Segment node LLEG_LINK6
ForceSensorlfsensor
Joint node RLEG_HIP_R
Segment node RLEG_LINK1
Joint node RLEG_HIP_P
Segment node RLEG_LINK2
Joint node RLEG_HIP_Y
Segment node RLEG_LINK3
Joint node RLEG_KNEE
Segment node RLEG_LINK4
Joint node RLEG_ANKLE_P
Segment node RLEG_LINK5
Joint node RLEG_ANKLE_R
Segment node RLEG_LINK6
ForceSensorrfsensor
The model was successfully loaded !
process[StateHolderServiceROSBridge-16]: started with pid [637]
process[CollisionDetectorServiceROSBridge-17]: started with pid [655]
[ WARN] [1585895884.761884946]: could not find collada joint kmodel1/jointsid1000!
[ WARN] [1585895884.839156645]: The root link WAIST_LINK0 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.
process[collision_state-18]: started with pid [669]
process[SoftErrorLimiterServiceROSBridge-19]: started with pid [677]
process[robot_pose_ekf-20]: started with pid [678]
process[base_footprint_rootlink-21]: started with pid [679]
process[samplerobot_rviz-22]: started with pid [696]
[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
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-pazeshun'
[rtm.py] trying to findRTCManager on port2810
[sensor_ros_bridge_connect.py] wait for RTCmanager : 46405e9dcc2a
[sensor_ros_bridge_connect.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fa0292ed780> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fa0292ed780> isActive? = True
[sensor_ros_bridge_connect.py] simulation_mode : True
QPainter::begin: Paint device returned engine == 0, type: 2
QPainter::setPen: Painter not active
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[ WARN] [1585895888.191824869]: could not find collada joint kmodel1/jointsid1000!
[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
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[rtmlaunch] starting... /home/pazeshun/catkin_ws/src/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME SampleRobot(Robot)0
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:15005/SampleRobot(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/SampleRobot(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
[rtm.py] trying to findRTCManager on port2810
[hrpsys.py] wait for RTCmanager : None
[sensor_ros_bridge_connect.py] wait for 'sh' : None
[hrpsys.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fb2c58eec30> ( timeout 0 < 10)
[hrpsys.py] findComps -> SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fb2c58eec30> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py] bodyinfo URL = file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
cache found for file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
[hrpsys.py] creating components
[hrpsys.py] eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
cache found for file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fb2c58eed20> (315.15.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService object at 0x7fb2c586e290>
[hrpsys.py] eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[sh] onInitialize()
cache found for file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fb2c58dce60> (315.15.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService object at 0x7fb2c587bc90>
[hrpsys.py] eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[fk] onInitialize()
cache found for file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
cache found for file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fb2c58e0dc0> (315.15.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService object at 0x7fb2c59104d0>
[hrpsys.py] eval : [self.co, self.co_svc, self.co_version] = self.createComp("CollisionDetector","co")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[co] onInitialize()
cache found for file:///home/pazeshun/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
[Vclip] build finished, vcliip mesh of WAIST, 12 -> 12
[Vclip] build finished, vcliip mesh of WAIST_P, 40 -> 40
[Vclip] build finished, vcliip mesh of WAIST_R, 30 -> 30
[Vclip] build finished, vcliip mesh of CHEST, 46 -> 46
[Vclip] build finished, vcliip mesh of LARM_SHOULDER_P, 40 -> 40
[Vclip] build finished, vcliip mesh of LARM_SHOULDER_R, 32 -> 32
[Vclip] build finished, vcliip mesh of LARM_SHOULDER_Y, 40 -> 40
[Vclip] build finished, vcliip mesh of LARM_ELBOW, 26 -> 26
[Vclip] build finished, vcliip mesh of LARM_WRIST_Y, 40 -> 40
[Vclip] build finished, vcliip mesh of LARM_WRIST_P, 57 -> 57
[Vclip] build finished, vcliip mesh of LARM_WRIST_R, 8 -> 8
[Vclip] build finished, vcliip mesh of RARM_SHOULDER_P, 40 -> 40
[Vclip] build finished, vcliip mesh of RARM_SHOULDER_R, 32 -> 32
[Vclip] build finished, vcliip mesh of RARM_SHOULDER_Y, 40 -> 40
[Vclip] build finished, vcliip mesh of RARM_ELBOW, 26 -> 26
[Vclip] build finished, vcliip mesh of RARM_WRIST_Y, 40 -> 40
[Vclip] build finished, vcliip mesh of RARM_WRIST_P, 57 -> 57
[Vclip] build finished, vcliip mesh of RARM_WRIST_R, 12 -> 12
[Vclip] build finished, vcliip mesh of LLEG_HIP_R, 40 -> 40
[Vclip] build finished, vcliip mesh of LLEG_HIP_P, 40 -> 40
[Vclip] build finished, vcliip mesh of LLEG_HIP_Y, 29 -> 29
[Vclip] build finished, vcliip mesh of LLEG_KNEE, 26 -> 26
[Vclip] build finished, vcliip mesh of LLEG_ANKLE_P, 40 -> 40
[Vclip] build finished, vcliip mesh of LLEG_ANKLE_R, 26 -> 26
[Vclip] build finished, vcliip mesh of RLEG_HIP_R, 40 -> 40
[Vclip] build finished, vcliip mesh of RLEG_HIP_P, 40 -> 40
[Vclip] build finished, vcliip mesh of RLEG_HIP_Y, 29 -> 29
[Vclip] build finished, vcliip mesh of RLEG_KNEE, 26 -> 26
[Vclip] build finished, vcliip mesh of RLEG_ANKLE_P, 40 -> 40
[Vclip] build finished, vcliip mesh of RLEG_ANKLE_R, 26 -> 26
[co] prop[collision_pair] ->RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R
[co] check collisions between RARM_WRIST_P and WAIST
[co] check collisions between LARM_WRIST_P and WAIST
[co] check collisions between RARM_WRIST_P and RLEG_HIP_R
[co] check collisions between LARM_WRIST_P and LLEG_HIP_R
[co] check collisions between RARM_WRIST_R and RLEG_HIP_R
[co] check collisions between LARM_WRIST_R and LLEG_HIP_R
[hrpsys.py] create Comp -> CollisionDetector : <hrpsys.rtm.RTcomponent instance at 0x7fb2c590bdc0> (315.15.0)
[hrpsys.py] create CompSvc -> CollisionDetector Service : <OpenHRP._objref_CollisionDetectorService object at 0x7fb2c5909b50>
[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/catkin_ws/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl
[el] Do not load joint limit table
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fb2c590be60> (315.15.0)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService object at 0x7fb2c590d450>
[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 0x7fb2c590b960> (315.15.0)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService object at 0x7fb2c58fccd0>
[hrpsys.py] connecting components
[rtm.py] Connect sh.qOut - co.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect co.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 - SampleRobot(Robot)0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect SampleRobot(Robot)0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect SampleRobot(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect SampleRobot(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.lhsensorRef - sh.lhsensorIn (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.lfsensorRef - sh.lfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect seq.rfsensorRef - sh.rfsensorIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 1 /30
[sensor_ros_bridge_connect.py] wait for 'sh' : <hrpsys.rtm.RTcomponent instance at 0x7fa02653d140>
[rtm.py] Connect SampleRobot(Robot)0.q - co.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect SampleRobot(Robot)0.servoState - co.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect SampleRobot(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating components
[fk] onActivated(1000)
[co] onActivated(1000)
[co] [5.488000] set safe posture
[el] onActivated(1000)
[rtm.py] configuration ORB with localhost:15005
[rtm.py] configuration RTCManager with localhost:2810
[hrpsys.py] setup logger
[log] Log max length is set to 4000
[rtm.py] trying to findRTCManager on port2810
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = q to SampleRobot(Robot)0_q
Traceback (most recent call last):
File "/home/pazeshun/catkin_ws/src/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py", line 191, in <module>
rtc_init()
File "/home/pazeshun/catkin_ws/src/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py", line 66, in rtc_init
mdlldr = obj._narrow(OpenHRP.ModelLoader_idl._0_OpenHRP__POA.ModelLoader)
AttributeError: 'module' object has no attribute 'ModelLoader_idl'
[rtm.py] Connect SampleRobot(Robot)0.q - log.SampleRobot(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = dq to SampleRobot(Robot)0_dq
[rtm.py] Connect SampleRobot(Robot)0.dq - log.SampleRobot(Robot)0_dq (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = tau to SampleRobot(Robot)0_tau
[rtm.py] Connect SampleRobot(Robot)0.tau - log.SampleRobot(Robot)0_tau (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 = TimedAcceleration3D, name = gsensor to SampleRobot(Robot)0_gsensor
[rtm.py] Connect SampleRobot(Robot)0.gsensor - log.SampleRobot(Robot)0_gsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedAngularVelocity3D, name = gyrometer to SampleRobot(Robot)0_gyrometer
[rtm.py] Connect SampleRobot(Robot)0.gyrometer - log.SampleRobot(Robot)0_gyrometer (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[collision_state-18] process has died [pid 669, exit code 1, cmd /home/pazeshun/catkin_ws/src/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py /home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl -o corba.master_manager:localhost:2810 -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state __log:=/home/pazeshun/.ros/log/a8b9fa3a-7575-11ea-bcbc-0242ac110002/collision_state-18.log].
log file: /home/pazeshun/.ros/log/a8b9fa3a-7575-11ea-bcbc-0242ac110002/collision_state-18*.log
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lhsensor to SampleRobot(Robot)0_lhsensor
[rtm.py] Connect SampleRobot(Robot)0.lhsensor - log.SampleRobot(Robot)0_lhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rhsensor to SampleRobot(Robot)0_rhsensor
[rtm.py] Connect SampleRobot(Robot)0.rhsensor - log.SampleRobot(Robot)0_rhsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensor to SampleRobot(Robot)0_lfsensor
[rtm.py] Connect SampleRobot(Robot)0.lfsensor - log.SampleRobot(Robot)0_lfsensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensor to SampleRobot(Robot)0_rfsensor
[rtm.py] Connect SampleRobot(Robot)0.rfsensor - log.SampleRobot(Robot)0_rfsensor (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
[sensor_ros_bridge_connect.py] connecSensorRosBridgePort( /home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl , SampleRobot(Robot)0 )
[sensor_ros_bridge_connect.py] bodyinfo URL = file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
cache found for file:///home/pazeshun/catkin_ws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
[sensor_ros_bridge_connect.py] sensor(name: gsensor , type: Acceleration )
[sensor_ros_bridge_connect.py] rh.port( gsensor ) = <RTC._objref_PortService object at 0x7fa02655a390>
[sensor_ros_bridge_connect.py] connect gsensor SampleRobot(Robot)0.gsensor HrpsysSeqStateROSBridge0.gsensor
[rtm.py] Connect SampleRobot(Robot)0.gsensor - HrpsysSeqStateROSBridge0.gsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] sensor(name: gyrometer , type: RateGyro )
[rtm.py] Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[sensor_ros_bridge_connect.py] rh.port( gyrometer ) = <RTC._objref_PortService object at 0x7fa02655a350>
[sensor_ros_bridge_connect.py] connect gyrometer SampleRobot(Robot)0.gyrometer HrpsysSeqStateROSBridge0.gyrometer
[rtm.py] Connect SampleRobot(Robot)0.gyrometer - HrpsysSeqStateROSBridge0.gyrometer (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] sensor(name: VISION_SENSOR1 , type: Vision )
[sensor_ros_bridge_connect.py] sensor(name: VISION_SENSOR2 , type: Vision )
[sensor_ros_bridge_connect.py] sensor(name: lhsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( lhsensor ) = <RTC._objref_PortService object at 0x7fa02655a2d0>
[sensor_ros_bridge_connect.py] connect lhsensor SampleRobot(Robot)0.lhsensor HrpsysSeqStateROSBridge0.lhsensor
[rtm.py] Connect SampleRobot(Robot)0.lhsensor - HrpsysSeqStateROSBridge0.lhsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[hrpsys.py] setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[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)
[sensor_ros_bridge_connect.py] sensor(name: rhsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( rhsensor ) = <RTC._objref_PortService object at 0x7fa02655a310>
[sensor_ros_bridge_connect.py] connect rhsensor SampleRobot(Robot)0.rhsensor HrpsysSeqStateROSBridge0.rhsensor
[rtm.py] Connect SampleRobot(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 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: lfsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( lfsensor ) = <RTC._objref_PortService object at 0x7fa02655a250>
[sensor_ros_bridge_connect.py] connect lfsensor SampleRobot(Robot)0.lfsensor HrpsysSeqStateROSBridge0.lfsensor
[rtm.py] Connect SampleRobot(Robot)0.lfsensor - HrpsysSeqStateROSBridge0.lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] connect lfsensor sh.lfsensorOut HrpsysSeqStateROSBridge0.ref_lfsensor
[rtm.py] Connect sh.lfsensorOut - HrpsysSeqStateROSBridge0.ref_lfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[sensor_ros_bridge_connect.py] sensor(name: rfsensor , type: Force )
[sensor_ros_bridge_connect.py] rh.port( rfsensor ) = <RTC._objref_PortService object at 0x7fa02655a290>
[sensor_ros_bridge_connect.py] connect rfsensor SampleRobot(Robot)0.rfsensor HrpsysSeqStateROSBridge0.rfsensor
[rtm.py] Connect SampleRobot(Robot)0.rfsensor - HrpsysSeqStateROSBridge0.rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[rtm.py] Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[sensor_ros_bridge_connect.py] connect rfsensor sh.rfsensorOut HrpsysSeqStateROSBridge0.ref_rfsensor
[rtm.py] Connect sh.rfsensorOut - HrpsysSeqStateROSBridge0.ref_rfsensor (dataflow_type=Push, subscription_type=new, bufferlength=1, push_rate=50.0, push_policy=all)
[rtmlaunch] Wait for /localhost:15005/sh.rtc:StateHolderService 2 /30
[hrpsys.py] setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[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}
[sensor_ros_bridge_connect-11] process has finished cleanly
log file: /home/pazeshun/.ros/log/a8b9fa3a-7575-11ea-bcbc-0242ac110002/sensor_ros_bridge_connect-11*.log
[rtm.py] Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[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 = 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 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 SampleRobot(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 SampleRobot(Robot)0_servoState
[rtm.py] Connect SampleRobot(Robot)0.servoState - log.SampleRobot(Robot)0_servoState (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] setupLogger : record type = TimedPose3D, name = WAIST to SampleRobot(Robot)0_WAIST
[rtm.py] Connect SampleRobot(Robot)0.WAIST - log.SampleRobot(Robot)0_WAIST (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
[rtm.py] Connect sh.lhsensorOut - log.sh_lhsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[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] Connected from localhost:15005/CollisionDetectorServiceROSBridge.rtc:CollisionDetectorService
[rtmlaunch] to localhost:15005/co.rtc:CollisionDetectorService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/SoftErrorLimiterServiceROSBridge.rtc:SoftErrorLimiterService
[rtmlaunch] to localhost:15005/el.rtc:SoftErrorLimiterService
[rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/el.rtc:servoStateOut
[rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:servoState
[rtmlaunch] with {'id': '', 'properties': {'dataport.buffer.length': '8', '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] [1585895893.082633101]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1585895893.082698282]: JOINT: RARM_SHOULDER_P RARM_SHOULDER_R RARM_SHOULDER_Y RARM_ELBOW RARM_WRIST_Y RARM_WRIST_P
[rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc
[ WARN] [1585895893.086090948]: std::__cxx11::string GetHrpsysVersion(RTC::CorbaPort&) Connected to SequencePlayer (seq) version 315.15.0
[ INFO] [1585895893.086665761]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz] (exec 1 Hz, dropped 0)
[rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetectorServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/SoftErrorLimiterServiceROSBridge.rtc
[addJointGroup] group name = rarm
[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)
[ INFO] [1585895893.323178508, 7.347999999]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1585895893.323238451, 7.347999999]: JOINT: LARM_SHOULDER_P LARM_SHOULDER_R LARM_SHOULDER_Y LARM_ELBOW LARM_WRIST_Y LARM_WRIST_P
[addJointGroup] group name = larm
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = lfsensorOut to sh_lfsensorOut
[ INFO] [1585895893.630221436, 7.437999999]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1585895893.630304838, 7.437999999]: JOINT: WAIST_P WAIST_R CHEST
[addJointGroup] group name = torso
[rtm.py] Connect sh.lfsensorOut - log.sh_lfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[ INFO] [1585895893.815770111, 7.507999999]: ADD_GROUP: rhand (/rhand_controller)
[ INFO] [1585895893.816056464, 7.507999999]: JOINT: RARM_WRIST_R
[addJointGroup] group name = rhand
[hrpsys.py] setupLogger : record type = TimedDoubleSeq, name = rfsensorOut to sh_rfsensorOut
[rtm.py] Connect sh.rfsensorOut - log.sh_rfsensorOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[log] Log cleared
[hrpsys.py] setup joint groups
[hrpsys.py] initialized successfully
[ INFO] [1585895894.047952452, 7.571999999]: ADD_GROUP: lhand (/lhand_controller)
[ INFO] [1585895894.048494223, 7.571999999]: JOINT: LARM_WRIST_R
[addJointGroup] group name = lhand
[ INFO] [1585895894.093332551, 7.581999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 153[Hz] (exec 641 Hz, dropped 1)
[hrpsys_py-4] process has finished cleanly
log file: /home/pazeshun/.ros/log/a8b9fa3a-7575-11ea-bcbc-0242ac110002/hrpsys_py-4*.log
[ INFO] [1585895894.296546340, 7.645999999]: ADD_GROUP: rleg (/rleg_controller)
[ INFO] [1585895894.296691894, 7.645999999]: JOINT: RLEG_HIP_R RLEG_HIP_P RLEG_HIP_Y RLEG_KNEE RLEG_ANKLE_P RLEG_ANKLE_R
[addJointGroup] group name = rleg
[ INFO] [1585895894.497902760, 7.703999999]: ADD_GROUP: lleg (/lleg_controller)
[ INFO] [1585895894.497995621, 7.703999999]: JOINT: LLEG_HIP_R LLEG_HIP_P LLEG_HIP_Y LLEG_KNEE LLEG_ANKLE_P LLEG_ANKLE_R
[addJointGroup] group name = lleg
[ WARN] [1585895894.727292817, 7.791999999]: std::__cxx11::string GetHrpsysVersion(RTC::CorbaPort&) Connected to SequencePlayer (seq) version 315.15.0
[ INFO] [1585895895.102250187, 7.929999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 175[Hz] (exec 562 Hz, dropped 0)
[ INFO] [1585895896.111863446, 8.373999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 221[Hz] (exec 611 Hz, dropped 0)
[ INFO] [1585895897.116157964, 8.861999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 233[Hz] (exec 366 Hz, dropped 3)
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