tork-a / rtmros_nextage Goto Github PK

$ catkin_lint --pkg nextage_ros_bridge -W1 --explain -W2
nextage_ros_bridge: CMakeLists.txt(93): warning: environment variables should not be used
     * The behavior of your build should not depend on any environment
     * variables.
nextage_ros_bridge: notice: package description starts with boilerplate 'The nextage_ros_bridge package is a'
     * Your package description starts with a number of typical filler
     * words which do not actually describe the contents of your
     * package. Typically, you can simply delete these words from the
     * description, and it will still make sense and be much more
     * concise.
catkin_lint: checked 1 packages and found 2 problems

install(CODE "
message(\"++ glob files under \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/conf/\")
  file(GLOB _xml_files \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/conf/*.xml)
  file(GLOB _conf_files \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/conf/*.conf)
  foreach(_file \${_xml_files};\${_conf_files})
    message(\"++ sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}@ \${_file}\")
    message(\"sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}@ \${_file}\")
    execute_process(COMMAND sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}@ \${_file})
  endforeach()
  ")

 $ roscd nextage_description/models
 $ rosrun openhrp3 export-collada -i main.wrl -o main.dae
 $ cp main.dae ../../nextage_ros_bridge/nextage.dae

rtmros_nextage$ grep -r nextage.dae .
Binary file ./.git/index matches
./nextage_ros_bridge/launch/nextage_ros_bridge_viz.launch:  <arg name="COLLADA_FILE" default="$(find nextage_ros_bridge)/models/nextage.dae" />
./nextage_ros_bridge/launch/nextage_ros_bridge.launch:  <arg name="COLLADA_FILE" default="$(find nextage_ros_bridge)/models/nextage.dae" />
./nextage_ros_bridge/doc/tutorial/changing_nextage_grippers_in_robot_model.wiki: $ cp main.dae ../../nextage_ros_bridge/nextage.dae
./nextage_ros_bridge/conf/nextage_nosim.xml:  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="/home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae">
./nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage.xml:  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="/home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae">
./nextage_ros_bridge/conf/nextage.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage_nosim.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
./nextage_ros_bridge/conf/nextage.RobotHardware.conf:model: file:///home/n130s/data/Dropbox/ROS/hydro_precise/cws_hiro_nxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae

[[HardwareLog]]

 pr2admin@pr2c2:/dev/sensors$ sudo pr2-systemcheck 
 Running local scripts
 Running scripts for c1
  * Testing ssh connection to c1...                 OK
  * Running 'all/checkcpucores.sh'...               OK
  * Running 'all/checkcpufans.sh'...                OK
  * Running 'all/checkhome.sh'...                   OK
  * Running 'all/checkpowerboard.sh'...             OK
  * Running 'all/checktime.py'...                   OK
  * Running 'all/removabledisk.sh'...               OK
  * Running 'all/vpnconnectivity.sh'...             OK
  * Running 'all/wapconnectivity.sh'...             OK
  * Running 'all/wifi-routerconnectivity.sh'...     OK
  * Running 'c1/checkdpkg.sh'...                    OK
  * Running 'c1/checkethercat.sh'...                OK
  * Running 'c1/checkifacec1.sh'...                 OK
  * Running 'c1/checkprosilica.sh'...               OK
  * Running 'c1/checksensors.sh'...                 OK
  * Running 'c1/checksoundusb.sh'...                OK
  * Running 'c1/checkwge100.sh'...                  OK
  * Running 'c1/checkwrt610n.sh'...                 OK
 Running scripts for c2
  * Testing ssh connection to c2...                 OK
  * Running 'all/checkcpucores.sh'...               OK

$ catkin_make
:
-- catkin 0.5.85
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - nextage_description
-- ~~  - nextage_moveit_config
-- ~~  - nextage_ros_bridge
-- ~~  - rtmros_nextage (metapackage)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'nextage_description'
-- ==> add_subdirectory(rtmros_nextage/nextage_description)
-- +++ processing catkin package: 'nextage_moveit_config'
-- ==> add_subdirectory(rtmros_nextage/nextage_moveit_config)
-- +++ processing catkin package: 'nextage_ros_bridge'
-- ==> add_subdirectory(rtmros_nextage/nextage_ros_bridge)
CMake Error at /opt/ros/hydro/share/hrpsys_ros_bridge/cmake/hrpsys_ros_bridgeConfig.cmake:106 (message):
  Project 'hrpsys_ros_bridge' specifies
  '/tmp/buildd/ros-hydro-hrpsys-ros-bridge-1.0.5-0precise-20140303-1207/idl_gen/cpp'
  as an include dir, which is not found.  It does neither exist as an
  absolute directory nor in
  '/opt/ros/hydro//tmp/buildd/ros-hydro-hrpsys-ros-bridge-1.0.5-0precise-20140303-1207/idl_gen/cpp'.
  Ask the maintainer 'Kei Okada <[email protected]>, Isao Isaac
  Saito <[email protected]>' to fix it.
Call Stack (most recent call first):
  /opt/ros/hydro/share/hironx_ros_bridge/cmake/hironx_ros_bridgeConfig.cmake:165 (find_package)
  /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
  rtmros_nextage/nextage_ros_bridge/CMakeLists.txt:7 (find_package)

-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

$ dpkg -p ros-hydro-openrtm-aist|grep Ver
Version: 1.1.0-1precise-20140303-0921-+0000
$ dpkg -p ros-hydro-openhrp3|grep Ver
Version: 3.1.5-2precise-20140303-0930-+0000
$ dpkg -p ros-hydro-hrpsys|grep Ver
Version: 315.1.7-0precise-20140303-1021-+0000

Base path: /home/travis/ros/ws_rtmros_nextage
Source space: /home/travis/ros/ws_rtmros_nextage/src
Build space: /home/travis/ros/ws_rtmros_nextage/build
Devel space: /home/travis/ros/ws_rtmros_nextage/devel
Install space: /home/travis/ros/ws_rtmros_nextage/install
####
#### Running command: "make cmake_check_build_system" in "/home/travis/ros/ws_rtmros_nextage/build"
####
####
#### Running command: "make test -j32 -l32" in "/home/travis/ros/ws_rtmros_nextage/build"
####
Running tests...
Test project /home/travis/ros/ws_rtmros_nextage/build
No tests were found!!!
The command "catkin_make test" exited with 0.

corba.nameservers: localhost:15005
logger.enable: YES
#logger.log_level: NORMAL
#logger.log_level: DEBUG
#logger.log_level: TRACE
#logger.log_level: VERBOSE
logger.log_level: PARANOID
logger.file_name: stdout
exec_cxt.periodic.type: hrpExecutionContext
exec_cxt.periodic.rate: 200

manager.is_master: YES
manager.modules.load_path: /opt/jsk/lib
manager.modules.preload: hrpEC.so
#manager.modules.preload: hrpEC.so,RobotHardware.so
#manager.components.precreate: RobotHardware

## All Robots
example.RobotHardware.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.SequencePlayer.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.StateHolder.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.ForwardKinematics.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.DataLogger.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## Walking
example.AutoBalancer.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.Stabilizer.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## Impedance
example.ImpedanceController.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## SoftErrorLimit
example.VirtualForceSensor.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.TorqueFilter.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## SoftErrorLimit
example.KalmanFilter.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
example.SoftErrorLimiter.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## Collision
example.CollisionDetector.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf
## Grasper
example.ServoController.config_file: /opt/jsk/etc/HIRONX/hrprtc/Robot.conf

In [10]: for i in range(10):
    nxc.setTargetPoseRelative('rarm', 'RARM_JOINT5', dz=0.0001, tm=1)
    nxc.waitInterpolationOfGroup('rarm')
    print('   joint=', nxc.getJointAngles()[3:9])  # To print right arm's.
   ....:     
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])
[ 0.29838093 -0.23680545  1.24813262] [ 3.05873233 -0.89565433  3.0368065 ]
('   joint=', [-0.2945614815894172, -5.998243030271183, -133.46845304526718, 15.380003570890002, 8.938800561044035, 2.864983896441851])

$ source `rospack find openrtm_tools`/scripts/rtshell-setup.sh

[rospack] Error: stack/package rtctree not found
[rospack] Error: stack/package rtsprofile not found

sudo apt-get install ros-hydro-rtshell-core

$ roslaunch hironx_moveit_config moveit_planning_execution.launch

$ roslaunch nextage_moveit_config moveit_planning_execution.launch

    $ dpkg -p ros-hydro-hrpsys |grep Version
    Version: 315.1.5-0precise-20131231-0434-+0000
    nextage@visionpc:~$ ipython -i `rospack find
nextage_ros_bridge`/script/nextage.py RobotHardware0
/opt/jsk/etc/HIRONX/model/main.wrl -- -ORBInitRef
NameService=corbaloc:iiop:nxc100:15005/NameServicePython 2.7.3
(default, Sep 26 2013, 20:03:06)
    Type "copyright", "credits" or "license" for more information.

    IPython 0.12.1 -- An enhanced Interactive Python.
    ?         -> Introduction and overview of IPython's features.
    %quickref -> Quick reference.
    help      -> Python's own help system.
    object?   -> Details about 'object', use 'object??' for extra details.
    configuration ORB with  nxc100 : 15005
    [hrpsys.py]  waiting ModelLoader
    [hrpsys.py]  start hrpsys
    [hrpsys.py]  finding RTCManager and RobotHardware
    [hrpsys.py]  wait for RTCmanager :  None
    [hrpsys.py]  wait for RobotHardware0  :  <hrpsys.rtm.RTcomponent
instance at 0x426dc68> (timeout  0  < 10)
    [hrpsys.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent
instance at 0x426dc68>
    [hrpsys.py]  simulation_mode :  False
    [hrpsys.py]    bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
    [hrpsys.py]  creating components
    [hrpsys.py]    eval :  [self.seq, self.seq_svc] =
self.createComp("SequencePlayer","seq")
    RTC named " seq " already exists.
    [hrpsys.py]  create Comp ->  SequencePlayer  :
<hrpsys.rtm.RTcomponent instance at 0x426bea8>
    [hrpsys.py]  create CompSvc ->  SequencePlayer Service :
<OpenHRP._objref_SequencePlayerService instance at 0x427b6c8>
    [hrpsys.py]    eval :  [self.sh, self.sh_svc] =
self.createComp("StateHolder","sh")
    RTC named " sh " already exists.
    [hrpsys.py]  create Comp ->  StateHolder  :
<hrpsys.rtm.RTcomponent instance at 0x426bef0>
    [hrpsys.py]  create CompSvc ->  StateHolder Service :
<OpenHRP._objref_StateHolderService instance at 0x42821b8>
    [hrpsys.py]    eval :  [self.fk, self.fk_svc] =
self.createComp("ForwardKinematics","fk")
    RTC named " fk " already exists.
    [hrpsys.py]  create Comp ->  ForwardKinematics  :
<hrpsys.rtm.RTcomponent instance at 0x426edd0>
    [hrpsys.py]  create CompSvc ->  ForwardKinematics Service :
<OpenHRP._objref_ForwardKinematicsService instance at 0x427b050>
    [hrpsys.py]    eval :  [self.el, self.el_svc] =
self.createComp("SoftErrorLimiter","el")
    RTC named " el " already exists.
    [hrpsys.py]  create Comp ->  SoftErrorLimiter  :
<hrpsys.rtm.RTcomponent instance at 0x4279440>
    [hrpsys.py]  create CompSvc ->  SoftErrorLimiter Service :
<OpenHRP._objref_SoftErrorLimiterService instance at 0x427b7e8>
    [hrpsys.py]    eval :  [self.sc, self.sc_svc] =
self.createComp("ServoController","sc")
    RTC named " sc " already exists.
    [hrpsys.py]  create Comp ->  ServoController  :
<hrpsys.rtm.RTcomponent instance at 0x42793f8>
    [hrpsys.py]  create CompSvc ->  ServoController Service :
<OpenHRP._objref_ServoControllerService instance at 0x4276290>
    [hrpsys.py]    eval :  [self.log, self.log_svc] =
self.createComp("DataLogger","log")
    RTC named " log " already exists.
    [hrpsys.py]  create Comp ->  DataLogger  :
<hrpsys.rtm.RTcomponent instance at 0x4279fc8>
    [hrpsys.py]  create CompSvc ->  DataLogger Service :
<OpenHRP._objref_DataLoggerService instance at 0x4280d88>
    [hrpsys.py]  connecting components
    sh.qOut and el.qRef are already connected
    el.q and RobotHardware0.qRef are already connected
    RobotHardware0.servoState and el.servoStateIn are already connected
    RobotHardware0.q and sh.currentQIn are already connected
    RobotHardware0.q and fk.q are already connected
    sh.qOut and fk.qRef are already connected
    seq.qRef and sh.qIn are already connected
    seq.basePos and sh.basePosIn are already connected
    seq.baseRpy and sh.baseRpyIn are already connected
    seq.zmpRef and sh.zmpIn are already connected
    sh.basePosOut and seq.basePosInit are already connected
    sh.basePosOut and fk.basePosRef are already connected
    sh.baseRpyOut and seq.baseRpyInit are already connected
    sh.baseRpyOut and fk.baseRpyRef are already connected
    sh.qOut and seq.qInit are already connected
    RobotHardware0.q and el.qCurrent are already connected
    [hrpsys.py]  activating components
    already serialized
    already serialized
    already serialized
    already serialized
    already serialized
    already serialized
    [hrpsys.py]    setupLogger :  q  arleady exists in DataLogger
    [hrpsys.py]    setupLogger :  tau  arleady exists in DataLogger
    [hrpsys.py]  sensor names for DataLogger
    [hrpsys.py]    setupLogger :  qRef  arleady exists in DataLogger
    [hrpsys.py]    setupLogger :  qOut  arleady exists in DataLogger
    [hrpsys.py]    setupLogger :  basePosOut  arleady exists in DataLogger
    [hrpsys.py]    setupLogger :  baseRpyOut  arleady exists in DataLogger
    [hrpsys.py]    setupLogger : record type = TimedLong , name =
emergencySignal  to  RobotHardware0_emergencySignal
    ---------------------------------------------------------------------------
    AttributeError                            Traceback (most recent call last)
    /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in
execfile(fname, *where)
        173             else:
        174                 filename = fname
    --> 175             __builtin__.execfile(filename, *where)

    /opt/ros/hydro/share/nextage_ros_bridge/script/nextage.py in <module>()
         27         args.modelfile = unknown[1]
         28     nxc = nextage_client.NextageClient()
    ---> 29     nxc.init(robotname=args.robot, url=args.modelfile)
         30
         31 # for simulated robot


    /opt/ros/hydro/lib/python2.7/dist-packages/nextage_ros_bridge/nextage_client.pyc
in init(self, robotname, url)
         77         @type url: str
         78         '''
    ---> 79         HIRONX.init(self, robotname=robotname, url=url)
         80
         81     def turn_handlight_r(self, is_on=True):

    /opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.pyc
in init(self, robotname, url)
         62         @type url: str
         63         '''
    ---> 64         HrpsysConfigurator.init(self, robotname=robotname, url=url)
         65         self.setSelfGroups()
         66

    /opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc
in init(self, robotname, url)
        715         self.activateComps()
        716
    --> 717         self.setupLogger()
        718         print self.configurator_name, "setup logger done"
        719

    /opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc
in setupLogger(self)
        465             self.connectLoggerPort(self.sh, 'baseRpyOut')
        466         if self.rh != None:
    --> 467             self.connectLoggerPort(self.rh, 'emergencySignal')
        468
        469     def waitForRTCManager(self, managerhost=nshost):

    /opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc
in connectLoggerPort(self, artc, sen_name, log_name)
        439                 print self.configurator_name, "
setupLogger : record type =", sen_type, ", name = ", sen_name, " to ",
log_name
        440                 self.log_svc.add(sen_type, log_name)
    --> 441                 connectPorts(artc.port(sen_name),
self.log.port(log_name))
        442             else:
        443                 print self.configurator_name, "
setupLogger : ", sen_name, " arleady exists in DataLogger"

    /opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/rtm.pyc in
connectPorts(outP, inPs, subscription, dataflow, bufferlength, rate)
        451                         print
outP.get_port_profile().name,'and',inP.get_port_profile().name,'are
already connected'
        452                         continue
    --> 453                 if dataTypeOfPort(outP) != dataTypeOfPort(inP):
        454                         print
outP.get_port_profile().name,'and',inP.get_port_profile().name,'have
different data types'
        455                         continue

    /opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/rtm.pyc in
dataTypeOfPort(port)
        429 # \return data type

        430 def dataTypeOfPort(port):
    --> 431         prof = port.get_port_profile()
        432         prop = prof.properties
        433         for p in prop:

    AttributeError: 'NoneType' object has no attribute 'get_port_profile'

tork-a/rtmros_nextage$ git status
# On branch groovy-devel
# Changes not staged for commit:
#   (use "git add <file>..." to update what will be committed)
#   (use "git checkout -- <file>..." to discard changes in working directory)
#
#   modified:   nextage_ros_bridge/conf/nextage.RobotHardware.conf
#   modified:   nextage_ros_bridge/conf/nextage.conf
#   modified:   nextage_ros_bridge/conf/nextage.xml
#   modified:   nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf
#   modified:   nextage_ros_bridge/conf/nextage_nosim.conf
#   modified:   nextage_ros_bridge/conf/nextage_nosim.xml
#
# Untracked files:
#   (use "git add <file>..." to include in what will be committed)
#
#   nextage_ros_bridge/test/test_nxopen.launch
#   nextage_ros_bridge/test/test_nxopen_simulation.launch
no changes added to commit (use "git add" and/or "git commit -a")
```(nextage.RobotHardware.conf) path of someone's machine is hardcoded 

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch 
[rtmlaunch] Start omniNames at port 15005 
:
Node is inconvertible and removed from the scene graph
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0
Warning: Mass is zero. <Model>HiroNX <Link>WAIST
process[DataLoggerServiceROSBridge-14]: started with pid [13098]
loading file:///opt/ros/groovy/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint nodeWAIST
  Segment node BODY
The model was successfully loaded ! 
loading file:///tmp/buildd/ros-groovy-nextage-ros-bridge-0.2.3-0precise-20131121-0851/models/nextage.dae
Collada Error: COLLADA error: Failed to open file:/tmp/buildd/ros-groovy-nextage-ros-bridge-0.2.3-0precise-20131121-0851/models/nextage.dae in daeLIBXMLPlugin::readFromFile

Collada Error: COLLADA error: Failed to load file:/tmp/buildd/ros-groovy-nextage-ros-bridge-0.2.3-0precise-20131121-0851/models/nextage.dae

loading failed.
The model file cannot be found.

--- /opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py.org   2014-01-31 11:47:44.638244752 +0900
+++ /opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py   2014-01-31 11:48:15.050245282 +0900
@@ -638,3 +638,144 @@
         @return: What RobotHardware.writeDigitalOutput returns (TODO: document)
         '''
         HrpsysConfigurator.writeDigitalOutputWithMask(self, dout, mask)
+
+    # public method
+    def connectComps(self):
+        if self.rh == None or self.seq == None or self.sh == None or self.fk == None:
+            print self.configurator_name, "\e[1;31m connectComps : hrpsys requries rh, seq, sh and fk, please check rtcd.conf or rtcd arguments\e[0m"
+            return
+        # connection for reference joint angles
+        tmp_contollers = self.getJointAngleControllerList()
+        if len(tmp_contollers) > 0:
+            connectPorts(self.sh.port("qOut"),  tmp_contollers[0].port("qRef"))
+            for i in range(len(tmp_contollers)-1):
+                connectPorts(tmp_contollers[i].port("q"), tmp_contollers[i+1].port("qRef"))
+            if self.simulation_mode:
+                connectPorts(tmp_contollers[-1].port("q"),  self.hgc.port("qIn"))
+                connectPorts(self.hgc.port("qOut"), self.rh.port("qRef"))
+            else :
+                connectPorts(tmp_contollers[-1].port("q"),  self.rh.port("qRef"))
+        else:
+            if self.simulation_mode :
+                connectPorts(self.sh.port("qOut"),  self.hgc.port("qIn"))
+                connectPorts(self.hgc.port("qOut"), self.rh.port("qRef"))
+            else:
+                connectPorts(self.sh.port("qOut"),  self.rh.port("qRef"))
+
+        # connection for kf
+        if self.kf:
+            #   currently use first acc and rate sensors for kf
+            s_acc=filter(lambda s : s.type == 'Acceleration', self.sensors)
+            if (len(s_acc)>0) and self.rh.port(s_acc[0].name) != None: # check existence of sensor ;; currently original HRP4C.xml has different naming rule of gsensor and gyrometer
+                connectPorts(self.rh.port(s_acc[0].name), self.kf.port('acc'))
+            s_rate=filter(lambda s : s.type == 'RateGyro', self.sensors)
+            if (len(s_rate)>0) and self.rh.port(s_rate[0].name) != None: # check existence of sensor ;; currently original HRP4C.xml has different naming rule of gsensor and gyrometer
+                connectPorts(self.rh.port(s_rate[0].name), self.kf.port("rate"))
+            connectPorts(self.seq.port("accRef"), self.kf.port("accRef"))
+
+        # connection for rh
+        if self.rh.port("servoState") != None:
+            if self.te and self.el:
+                connectPorts(self.rh.port("servoState"), self.te.port("servoStateIn"))
+                connectPorts(self.te.port("servoStateOut"), self.el.port("servoStateIn"))
+            elif self.el:
+                connectPorts(self.rh.port("servoState"), self.el.port("servoStateIn"))
+            elif self.te:
+                connectPorts(self.rh.port("servoState"), self.te.port("servoStateIn"))
+
+        # connection for sh, seq, fk
+        connectPorts(self.rh.port("q"), [self.sh.port("currentQIn"), self.fk.port("q")]) # connection for actual joint angles
+        connectPorts(self.sh.port("qOut"),  self.fk.port("qRef"))
+        connectPorts(self.seq.port("qRef"), self.sh.port("qIn"))
+        #connectPorts(self.seq.port("tqRef"), self.sh.port("tqIn"))
+        connectPorts(self.seq.port("basePos"), self.sh.port("basePosIn"))
+        connectPorts(self.seq.port("baseRpy"), self.sh.port("baseRpyIn"))
+        connectPorts(self.seq.port("zmpRef"),  self.sh.port("zmpIn"))
+        connectPorts(self.sh.port("basePosOut"), [self.seq.port("basePosInit"), self.fk.port("basePosRef")])
+        connectPorts(self.sh.port("baseRpyOut"), [self.seq.port("baseRpyInit"), self.fk.port("baseRpyRef")])
+        connectPorts(self.sh.port("qOut"), self.seq.port("qInit"))
+
+        # connection for st
+        if rtm.findPort(self.rh.ref, "lfsensor") and rtm.findPort(self.rh.ref, "rfsensor") and self.st:
+            connectPorts(self.rh.port("lfsensor"), self.st.port("forceL"))
+            connectPorts(self.rh.port("rfsensor"), self.st.port("forceR"))
+            connectPorts(self.kf.port("rpy"), self.st.port("rpy"))
+            connectPorts(self.abc.port("zmpRef"), self.st.port("zmpRef"))
+            connectPorts(self.abc.port("baseRpy"), self.st.port("baseRpyIn"))
+            connectPorts(self.abc.port("basePos"), self.st.port("basePosIn"))
+        if self.ic and self.abc:
+            for sen in filter(lambda x : x.type == "Force", self.sensors):
+                connectPorts(self.ic.port("ref_"+sen.name), self.abc.port("ref_"+sen.name))
+
+        #  actual force sensors
+        if self.afs and self.kf:
+            #connectPorts(self.kf.port("rpy"), self.ic.port("rpy"))
+            connectPorts(self.kf.port("rpy"), self.afs.port("rpy"))
+            connectPorts(self.rh.port("q"), self.afs.port("qCurrent"))
+            for sen in filter(lambda x : x.type == "Force", self.sensors):
+                connectPorts(self.rh.port(sen.name), self.afs.port(sen.name))
+                if self.ic:
+                    connectPorts(self.afs.port("off_"+sen.name), self.ic.port(sen.name))
+        # connection for ic
+        if self.ic:
+            connectPorts(self.rh.port("q"), self.ic.port("qCurrent"))
+        # connection for tf
+        if self.tf:
+            # connection for actual torques
+            if rtm.findPort(self.rh.ref, "tau") != None:
+                connectPorts(self.rh.port("tau"), self.tf.port("tauIn"))
+            connectPorts(self.rh.port("q"), self.tf.port("qCurrent"))
+        # connection for vs
+        if self.vs:
+            connectPorts(self.rh.port("q"), self.vs.port("qCurrent"))
+            connectPorts(self.tf.port("tauOut"), self.vs.port("tauIn"))
+            #  virtual force sensors
+            if self.ic:
+                for vfp in filter(lambda x : str.find(x, 'v') >= 0 and str.find(x, 'sensor') >= 0, self.vs.ports.keys()):
+                    connectPorts(self.vs.port(vfp), self.ic.port(vfp))
+        # connection for co
+        if self.co:
+            connectPorts(self.rh.port("q"), self.co.port("qCurrent"))
+
+        # connection for gc
+        if self.gc:
+            connectPorts(self.rh.port("q"), self.gc.port("qCurrent")) # other connections
+            tmp_controller = self.getJointAngleControllerList()
+            index = tmp_controller.index(self.gc)
+            if index == 0:
+                connectPorts(self.sh.port("qOut"), self.gc.port("qIn"))
+            else:
+                connectPorts(tmp_controller[index - 1].port("q"), self.gc.port("qIn"))
+
+        # connection for te
+        if self.te:
+            if self.tf:
+                connectPorts(self.tf.port("tauOut"), self.te.port("tauIn"))
+            else:
+                connectPorts(self.rh.port("tau"), self.te.port("tauIn"))
+            # sevoStateIn is connected above
+            
+        # connection for tl
+        if self.tl:
+            if self.tf:
+                connectPorts(self.tf.port("tauOut"), self.tl.port("tauIn"))
+            else:
+                connectPorts(self.rh.port("tau"), self.tl.port("tauIn"))
+            if self.te:
+                connectPorts(self.te.port("tempOut"), self.tl.port("tempIn"))
+            connectPorts(self.rh.port("q"), self.tl.port("qCurrentIn"))
+            # qRef is connected as joint angle controller
+
+        # connection for tc
+        if self.tc:
+            connectPorts(self.rh.port("q"), self.tc.port("qCurrent"))
+            if self.tf:
+                connectPorts(self.tf.port("tauOut"), self.tc.port("tauCurrent"))
+            else:
+                connectPorts(self.rh.port("tau"), self.tc.port("tauCurrent"))
+            if self.tl:
+                connectPorts(self.tl.port("tauMax"), self.tc.port("tauMax"))
+
+        # connection for el
+        if self.el:
+            connectPorts(self.rh.port("q"), self.el.port("qCurrent"))

    $ dpkg -p ros-hydro-nextage-ros-bridge |grep Version
    Version: 0.2.5-0precise-20131231-0550-+0000
    $ roslaunch nextage_moveit_config moveit_planning_execution.launch 
    ... logging to /home/n130s/.ros/log/c8064e5c-7d6f-11e3-b25a-88532e0fe6e6/roslaunch-130s-serval-16800.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://130s-serval:32972/

    SUMMARY
    ========

    PARAMETERS
     * /move_group/allow_trajectory_execution
     * /move_group/capabilities
     * /move_group/controller_list
     * /move_group/controller_manager_name
     * /move_group/controller_manager_ns
     * /move_group/jiggle_fraction
     * /move_group/left_arm/kinematics_solver
     * /move_group/left_arm/kinematics_solver_attempts
     * /move_group/left_arm/kinematics_solver_search_resolution
     * /move_group/left_arm/kinematics_solver_timeout
     * /move_group/left_arm/longest_valid_segment_fraction
     * /move_group/left_arm/planner_configs
     * /move_group/left_arm/projection_evaluator
     * /move_group/max_safe_path_cost
     * /move_group/moveit_controller_manager
     * /move_group/moveit_manage_controllers
     * /move_group/planner_configs/BKPIECEkConfigDefault/type
     * /move_group/planner_configs/ESTkConfigDefault/type
     * /move_group/planner_configs/KPIECEkConfigDefault/type
     * /move_group/planner_configs/LBKPIECEkConfigDefault/type
     * /move_group/planner_configs/PRMkConfigDefault/type
     * /move_group/planner_configs/PRMstarkConfigDefault/type
     * /move_group/planner_configs/RRTConnectkConfigDefault/type
     * /move_group/planner_configs/RRTkConfigDefault/type
     * /move_group/planner_configs/RRTstarkConfigDefault/type
     * /move_group/planner_configs/SBLkConfigDefault/type
     * /move_group/planner_configs/TRRTkConfigDefault/type
     * /move_group/planning_plugin
     * /move_group/planning_scene_monitor/publish_geometry_updates
     * /move_group/planning_scene_monitor/publish_planning_scene
     * /move_group/planning_scene_monitor/publish_state_updates
     * /move_group/planning_scene_monitor/publish_transforms_updates
     * /move_group/request_adapters
     * /move_group/right_arm/kinematics_solver
     * /move_group/right_arm/kinematics_solver_attempts
     * /move_group/right_arm/kinematics_solver_search_resolution
     * /move_group/right_arm/kinematics_solver_timeout
     * /move_group/right_arm/longest_valid_segment_fraction
     * /move_group/right_arm/planner_configs
     * /move_group/right_arm/projection_evaluator
     * /move_group/start_state_max_bounds_error
     * /move_group/use_controller_manager
     * /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
     * /robot_description_semantic
     * /rosdistro
     * /rosversion
     * /rviz_130s_serval_16800_1353411436589102358/left_arm/kinematics_solver
     * /rviz_130s_serval_16800_1353411436589102358/left_arm/kinematics_solver_attempts
     * /rviz_130s_serval_16800_1353411436589102358/left_arm/kinematics_solver_search_resolution
     * /rviz_130s_serval_16800_1353411436589102358/left_arm/kinematics_solver_timeout
     * /rviz_130s_serval_16800_1353411436589102358/right_arm/kinematics_solver
     * /rviz_130s_serval_16800_1353411436589102358/right_arm/kinematics_solver_attempts
     * /rviz_130s_serval_16800_1353411436589102358/right_arm/kinematics_solver_search_resolution
     * /rviz_130s_serval_16800_1353411436589102358/right_arm/kinematics_solver_timeout

    NODES
      /
        move_group (moveit_ros_move_group/move_group)
        rviz_130s_serval_16800_1353411436589102358 (rviz/rviz)

    ROS_MASTER_URI=http://localhost:11311

    core service [/rosout] found
    process[move_group-1]: started with pid [16838]
    process[rviz_130s_serval_16800_1353411436589102358-2]: started with pid [16859]
    [ INFO] [1389740587.039420270]: rviz version 1.10.10
    [ INFO] [1389740587.039499456]: compiled against OGRE version 1.7.4 (Cthugha)
    [ WARN] [1389740587.088456547]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740587.213056147, 101.429999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740587.219070326, 101.434999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740587.223418261, 101.434999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740587.355151907, 101.559999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740587.355414129, 101.559999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740587.355437523, 101.559999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740587.355870241, 101.559999999]: Loading robot model 'HiroNX'...
    [ WARN] [1389740587.646600821, 101.859999999]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740587.770081313, 101.979999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740587.776162812, 101.979999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740587.781189228, 101.994999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740587.891750931, 102.099999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740587.891924370, 102.099999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740587.891963599, 102.099999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740587.892191889, 102.099999999]: Loading robot model 'HiroNX'...
    [ INFO] [1389740587.893109412, 102.099999999]: OpenGl version: 4.2 (GLSL 4.2).
    [ WARN] [1389740587.940495451, 102.159999999]: The root link WAIST_Link 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.
    [ WARN] [1389740587.968723247, 102.179999999]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740588.095292973, 102.319999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740588.103825191, 102.324999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740588.111047161, 102.329999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740588.243311031, 102.459999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740588.243456453, 102.459999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740588.243476559, 102.459999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740588.243619306, 102.459999999]: Loading robot model 'HiroNX'...
    [ WARN] [1389740588.289694412, 102.509999999]: The root link WAIST_Link 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.
    [ INFO] [1389740588.387778095, 102.599999999]: Publishing maintained planning scene on 'monitored_planning_scene'
    [ INFO] [1389740588.393377518, 102.609999999]: MoveGroup debug mode is OFF
    Starting context monitors...
    [ INFO] [1389740588.393445244, 102.609999999]: Starting scene monitor
    [ INFO] [1389740588.395300172, 102.619999999]: Listening to '/planning_scene'
    [ INFO] [1389740588.395344673, 102.619999999]: Starting world geometry monitor
    [ INFO] [1389740588.396535824, 102.619999999]: Listening to '/collision_object' using message notifier with target frame '/WAIST_Link '
    [ INFO] [1389740588.397615361, 102.619999999]: Listening to '/planning_scene_world' for planning scene world geometry
    [ WARN] [1389740588.398324511, 102.619999999]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
    [ INFO] [1389740588.420910786, 102.639999999]: Listening to '/attached_collision_object' for attached collision objects
    Context monitors started.
    [ INFO] [1389740588.587395017, 102.804999999]: Initializing OMPL interface using ROS parameters
    [ INFO] [1389740588.631453965, 102.854999999]: Using planning interface 'OMPL'
    [ INFO] [1389740588.762067501, 102.979999999]: Param 'default_workspace_bounds' was not set. Using default value: 10
    [ INFO] [1389740588.763050226, 102.979999999]: Param 'start_state_max_bounds_error' was set to 0.1
    [ INFO] [1389740588.763818478, 102.979999999]: Param 'start_state_max_dt' was not set. Using default value: 0.5
    [ INFO] [1389740588.764672521, 102.979999999]: Param 'start_state_max_dt' was not set. Using default value: 0.5
    [ INFO] [1389740588.765415973, 102.979999999]: Param 'jiggle_fraction' was set to 0.05
    [ INFO] [1389740588.766238707, 102.979999999]: Param 'max_sampling_attempts' was not set. Using default value: 100
    [ INFO] [1389740588.766317968, 102.979999999]: Using planning request adapter 'Add Time Parameterization'
    [ INFO] [1389740588.766338994, 102.979999999]: Using planning request adapter 'Fix Workspace Bounds'
    [ INFO] [1389740588.766354595, 102.979999999]: Using planning request adapter 'Fix Start State Bounds'
    [ INFO] [1389740588.766369916, 102.979999999]: Using planning request adapter 'Fix Start State In Collision'
    [ INFO] [1389740588.766504803, 102.979999999]: Using planning request adapter 'Fix Start State Path Constraints'
    [ INFO] [1389740588.921036225, 103.134999999]: Trajectory execution is managing controllers
    Loading 'move_group/MoveGroupCartesianPathService'...
    Loading 'move_group/MoveGroupExecuteService'...
    Loading 'move_group/MoveGroupKinematicsService'...
    Loading 'move_group/MoveGroupMoveAction'...
    Loading 'move_group/MoveGroupPickPlaceAction'...
    Loading 'move_group/MoveGroupPlanService'...
    Loading 'move_group/MoveGroupQueryPlannersService'...
    Loading 'move_group/MoveGroupStateValidationService'...
    [ INFO] [1389740589.169793937, 103.394999999]: 

    ********************************************************
    * MoveGroup using: 
    *     - CartesianPathService
    *     - ExecutePathService
    *     - KinematicsService
    *     - MoveAction
    *     - PickPlaceAction
    *     - MotionPlanService
    *     - QueryPlannersService
    *     - StateValidationService
    ********************************************************

    [ INFO] [1389740589.169943331, 103.394999999]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
    [ INFO] [1389740589.169973896, 103.394999999]: MoveGroup context initialization complete

    All is well! Everyone is happy! You can start planning now!

    [ WARN] [1389740593.128776271, 107.369999999]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740593.243640462, 107.484999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740593.249077234, 107.489999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740593.253081692, 107.489999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740593.356416677, 107.599999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740593.356874777, 107.599999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740593.356930241, 107.599999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740593.357447969, 107.599999999]: Loading robot model 'HiroNX'...
    [ WARN] [1389740593.730944843, 107.964999999]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740593.838287517, 108.074999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740593.843222785, 108.074999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740593.847193285, 108.084999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740593.946275237, 108.189999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740593.946441191, 108.189999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740593.946472741, 108.189999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740593.946658048, 108.189999999]: Loading robot model 'HiroNX'...
    [ WARN] [1389740593.988820880, 108.234999999]: The root link WAIST_Link 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.
    [ WARN] [1389740594.024205176, 108.269999999]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740594.134356113, 108.379999999]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740594.139580758, 108.379999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740594.143641169, 108.384999999]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740594.243798374, 108.489999999]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740594.243959538, 108.489999999]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740594.243983274, 108.489999999]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ INFO] [1389740594.244328453, 108.489999999]: Loading robot model 'HiroNX'...
    [ WARN] [1389740594.290812053, 108.539999999]: The root link WAIST_Link 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.
    [ INFO] [1389740594.429368602, 108.664999999]: Starting scene monitor
    [ INFO] [1389740594.431954689, 108.674999999]: Listening to '/move_group/monitored_planning_scene'
    [ WARN] [1389740594.646679308, 108.874999999]: The root link WAIST_Link 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.
    [ WARN] [1389740594.646927677, 108.874999999]: The root link WAIST_Link 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.
    [ INFO] [1389740594.653834343, 108.874999999]: Constructing new MoveGroup connection for group 'left_arm'
    [ INFO] [1389740595.544167457, 109.789999999]: Ready to take MoveGroup commands for group left_arm.
    [ INFO] [1389740595.544428308, 109.789999999]: Looking around: no
    [ INFO] [1389740595.544547293, 109.789999999]: Replanning: no

    dpkg -p ros-groovy-nextage-ros-bridge |grep Version
    Version: 0.2.6-0precise-20140113-1521-+0000
    $ roslaunch nextage_moveit_config moveit_planning_execution.launch 
    ... logging to /home/n130s/.ros/log/6b67620c-7d70-11e3-aeb8-88532e0fe6e6/roslaunch-130s-serval-19938.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://130s-serval:49855/

    SUMMARY
    ========

    PARAMETERS
     * /move_group/allow_trajectory_execution
     * /move_group/capabilities
     * /move_group/controller_list
     * /move_group/controller_manager_name
     * /move_group/controller_manager_ns
     * /move_group/jiggle_fraction
     * /move_group/left_arm/kinematics_solver
     * /move_group/left_arm/kinematics_solver_attempts
     * /move_group/left_arm/kinematics_solver_search_resolution
     * /move_group/left_arm/kinematics_solver_timeout
     * /move_group/left_arm/longest_valid_segment_fraction
     * /move_group/left_arm/planner_configs
     * /move_group/left_arm/projection_evaluator
     * /move_group/max_safe_path_cost
     * /move_group/moveit_controller_manager
     * /move_group/moveit_manage_controllers
     * /move_group/planner_configs/BKPIECEkConfigDefault/type
     * /move_group/planner_configs/ESTkConfigDefault/type
     * /move_group/planner_configs/KPIECEkConfigDefault/type
     * /move_group/planner_configs/LBKPIECEkConfigDefault/type
     * /move_group/planner_configs/PRMkConfigDefault/type
     * /move_group/planner_configs/PRMstarkConfigDefault/type
     * /move_group/planner_configs/RRTConnectkConfigDefault/type
     * /move_group/planner_configs/RRTkConfigDefault/type
     * /move_group/planner_configs/RRTstarkConfigDefault/type
     * /move_group/planner_configs/SBLkConfigDefault/type
     * /move_group/planner_configs/TRRTkConfigDefault/type
     * /move_group/planning_plugin
     * /move_group/planning_scene_monitor/publish_geometry_updates
     * /move_group/planning_scene_monitor/publish_planning_scene
     * /move_group/planning_scene_monitor/publish_state_updates
     * /move_group/planning_scene_monitor/publish_transforms_updates
     * /move_group/request_adapters
     * /move_group/right_arm/kinematics_solver
     * /move_group/right_arm/kinematics_solver_attempts
     * /move_group/right_arm/kinematics_solver_search_resolution
     * /move_group/right_arm/kinematics_solver_timeout
     * /move_group/right_arm/longest_valid_segment_fraction
     * /move_group/right_arm/planner_configs
     * /move_group/right_arm/projection_evaluator
     * /move_group/start_state_max_bounds_error
     * /move_group/use_controller_manager
     * /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity
     * /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits
     * /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits
     * /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration
     * /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity
     * /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits
     * /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits
     * /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
     * /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
     * /robot_description_semantic
     * /rosdistro
     * /rosversion
     * /rviz_130s_serval_19938_1713949757186469844/left_arm/kinematics_solver
     * /rviz_130s_serval_19938_1713949757186469844/left_arm/kinematics_solver_attempts
     * /rviz_130s_serval_19938_1713949757186469844/left_arm/kinematics_solver_search_resolution
     * /rviz_130s_serval_19938_1713949757186469844/left_arm/kinematics_solver_timeout
     * /rviz_130s_serval_19938_1713949757186469844/right_arm/kinematics_solver
     * /rviz_130s_serval_19938_1713949757186469844/right_arm/kinematics_solver_attempts
     * /rviz_130s_serval_19938_1713949757186469844/right_arm/kinematics_solver_search_resolution
     * /rviz_130s_serval_19938_1713949757186469844/right_arm/kinematics_solver_timeout

    NODES
      /
        move_group (moveit_ros_move_group/move_group)
        rviz_130s_serval_19938_1713949757186469844 (rviz/rviz)

    ROS_MASTER_URI=http://localhost:11311

    core service [/rosout] found
    process[move_group-1]: started with pid [19956]
    [ WARN] [1389740801.036511868]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    process[rviz_130s_serval_19938_1713949757186469844-2]: started with pid [19976]
    [ERROR] [1389740801.170659383]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740801.176041508]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740801.180271550]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ INFO] [1389740801.200792938]: rviz version 1.9.33
    [ INFO] [1389740801.200885908]: compiled against OGRE version 1.7.4 (Cthugha)
    [ERROR] [1389740801.301769406, 45.200000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740801.302123151, 45.200000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740801.302321166, 45.205000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740801.615192540, 45.510000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740801.755154651, 45.650000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740801.760520190, 45.655000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740801.764627318, 45.660000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740801.879895290, 45.780000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740801.880051413, 45.780000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740801.880080128, 45.780000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740801.926362117, 45.825000000]: The root link WAIST_Link 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.
    [ WARN] [1389740801.956715638, 45.855000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740802.070747303, 45.970000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740802.076105854, 45.975000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740802.080115601, 45.975000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ INFO] [1389740802.086234945, 45.985000000]: OpenGl version: 4.2 (GLSL 4.2).
    [ERROR] [1389740802.200705443, 46.105000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740802.200852155, 46.105000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740802.200880633, 46.105000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740802.254486236, 46.155000000]: The root link WAIST_Link 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.
    [ INFO] [1389740802.350824389, 46.255000000]: Publishing maintained planning scene on 'monitored_planning_scene'
    [ INFO] [1389740802.355182743, 46.260000000]: MoveGroup debug mode is OFF
    [ INFO] [1389740802.591693416, 46.495000000]: Initializing OMPL interface using ROS parameters
    [ INFO] [1389740802.626133508, 46.525000000]: Using planning interface 'OMPL'
    [ INFO] [1389740802.748319908, 46.650000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
    [ INFO] [1389740802.749080716, 46.650000000]: Param 'start_state_max_bounds_error' was set to 0.1
    [ INFO] [1389740802.749705898, 46.650000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
    [ INFO] [1389740802.750358964, 46.650000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
    [ INFO] [1389740802.751020514, 46.650000000]: Param 'jiggle_fraction' was set to 0.05
    [ INFO] [1389740802.751622070, 46.650000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
    [ INFO] [1389740802.751688713, 46.650000000]: Using planning request adapter 'Add Time Parameterization'
    [ INFO] [1389740802.751717018, 46.650000000]: Using planning request adapter 'Fix Workspace Bounds'
    [ INFO] [1389740802.751750523, 46.650000000]: Using planning request adapter 'Fix Start State Bounds'
    [ INFO] [1389740802.751786369, 46.650000000]: Using planning request adapter 'Fix Start State In Collision'
    [ INFO] [1389740802.751820403, 46.650000000]: Using planning request adapter 'Fix Start State Path Constraints'
    [ INFO] [1389740802.905420642, 46.805000000]: Trajectory execution is managing controllers
    [ INFO] [1389740803.221139988, 47.125000000]: 
    ********************************************************
    * MoveGroup using: 
    *     - CartesianPathService
    *     - ExecutePathService
    *     - KinematicsService
    *     - MoveAction
    *     - PickPlaceAction
    *     - MotionPlanService
    *     - QueryPlannersService
    *     - StateValidationService
    ********************************************************

    [ INFO] [1389740803.221220525, 47.125000000]: Starting scene monitor
    [ INFO] [1389740803.222084272, 47.130000000]: Listening to 'planning_scene'
    [ INFO] [1389740803.222127781, 47.130000000]: Starting world geometry monitor
    [ INFO] [1389740803.222999852, 47.130000000]: Listening to 'collision_object' using message notifier with target frame '/WAIST_Link '
    [ INFO] [1389740803.223747452, 47.130000000]: Listening to 'collision_map' using message notifier with target frame '/WAIST_Link '
    [ INFO] [1389740803.224471356, 47.130000000]: Listening to 'planning_scene_world' for planning scene world geometry
    [ WARN] [1389740803.225075462, 47.130000000]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
    [ INFO] [1389740803.245427758, 47.155000000]: Listening to 'attached_collision_object' for attached collision objects
    [ INFO] [1389740803.245498318, 47.155000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
    [ INFO] [1389740803.245524173, 47.155000000]: MoveGroup context initialization complete

    All is well! Everyone is happy! You can start planning now!

    [ WARN] [1389740804.391325693, 48.305000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740804.530440179, 48.430000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740804.535523914, 48.445000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740804.539410530, 48.445000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740804.653074375, 48.560000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740804.653552636, 48.560000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740804.653595257, 48.560000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740804.974681691, 48.890000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740805.084516822, 49.005000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740805.089551828, 49.010000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740805.093280192, 49.010000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740805.194812812, 49.115000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740805.194982184, 49.115000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740805.195017837, 49.115000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740805.238353426, 49.155000000]: The root link WAIST_Link 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.
    [ WARN] [1389740805.283029828, 49.195000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


    [ERROR] [1389740805.389989593, 49.310000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

    [ WARN] [1389740805.395250054, 49.315000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ WARN] [1389740805.399199959, 49.320000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

    [ERROR] [1389740805.500219804, 49.415000000]: Semantic description is not specified for the same robot as the URDF
    [ERROR] [1389740805.500769039, 49.415000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
    [ERROR] [1389740805.500845156, 49.415000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
    [ WARN] [1389740805.550489851, 49.465000000]: The root link WAIST_Link 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.
    [ INFO] [1389740805.689465298, 49.605000000]: Starting scene monitor
    [ INFO] [1389740805.693442580, 49.605000000]: Listening to '/move_group/monitored_planning_scene'
    [ WARN] [1389740805.910279168, 49.825000000]: The root link WAIST_Link 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.
    [ WARN] [1389740805.910527958, 49.825000000]: The root link WAIST_Link 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.
    [ INFO] [1389740805.921596521, 49.835000000]: Constructing new MoveGroup connection for group 'left_arm'
    [ INFO] [1389740806.722572375, 50.640000000]: Ready to take MoveGroup commands for group left_arm.
    [ INFO] [1389740806.722756452, 50.640000000]: Looking around: no
    [ INFO] [1389740806.722859616, 50.640000000]: Replanning: no

We have one more consideration for future development. It is about
calibration but not related with the error we are having in HIRO2.

The movement done for calibrating the arms is a non controlled movement.
If the robot is in front of a working part, we must be sure that there
is free space for doing the calibration movement. We could manage to
make this happen before but it starts to be a problem for the new
applications that we are planning to do where the robot might go in
front of a big part and it is not always obvious that we have the
required free space to make the calibration movements.

Is it possible to change the trajectories of the movements that it does
for calibrating? And even better would it be possible to avoid doing
calibration at all?

Would starting from a known position be acceptable?
One method might be to have the arms locked into place at a certain posture on startup using the quick change adapters. I'll see if I can get the engineering department interested but this would definitely be future work.

$ rtls 192.168.128.10:15005/
ModelLoader  nextage.host_cxt/  RobotHardware0.rtc
$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py RobotHardware0 /opt/jsk/etc/HIRONX/model/main.wrl -- -ORBInitRef NameService=corbaloc:iiop:192.168.128.10:15005/NameService
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  130s-t440s : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
Manager not found
[hrpsys.py]  wait for RTCmanager :  None
Manager not found
[hrpsys.py]  wait for RTCmanager :  None
Manager not found
:

$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py --  --host 192.168.128.10 --robot RobotHardware0 --port 15005 --modelfile /opt/jsk/etc/HIRONX/model/main.wrl
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  130s-t440s : 15005
---------------------------------------------------------------------------
TRANSIENT                                 Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    176             else:
    177                 filename = fname
--> 178             __builtin__.execfile(filename, *where)

/home/n130s/data/Dropbox/ROS/hydro_raring/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     66         args.robot = unknown[0]
     67         args.modelfile = unknown[1]
---> 68     nxc = nextage_client.NextageClient()
     69     nxc.init(robotname=args.robot, url=args.modelfile)
     70 

/home/n130s/data/Dropbox/ROS/hydro_raring/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.pyc in __init__(self)
     64         super class as the tradition there.
     65         '''
---> 66         super(NextageClient, self).__init__()
     67         self._hand = NextageHand(self)
     68 

/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in __init__(self, cname)
    721 
    722     def __init__(self, cname="[hrpsys.py] "):
--> 723         initCORBA()
    724         self.configurator_name = cname
    725 

/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.pyc in initCORBA()
    270 
    271         nameserver = orb.resolve_initial_references("NameService");
--> 272         rootnc = nameserver._narrow(CosNaming.NamingContext)
    273         return None
    274 

/usr/lib/python2.7/dist-packages/omniORB/CORBA.pyc in _narrow(self, dest)
    796         except KeyError:
    797             pass
--> 798         return _omnipy.narrow(self, repoId, 1)
    799 
    800     def _unchecked_narrow(self, dest):

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)

for i in range(500):
            pos[0] += 0.0001
            time.sleep(0.11)
            print('#', i, ' pos=', pos, ' rpy=', rpy)
            nxc.setTargetPose('rarm', pos, rpy, tm)

leus@sculptor:~/ros/hydro/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge$ roslaunch hironx_ros_bridge hironx_ros_bridge.launch nameserver:=hiro014
... logging to /home/leus/.ros/log/1e5dda4c-c49f-11e3-bd20-001f2905a411/roslaunch-sculptor-13916.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://sculptor:33227/

SUMMARY
========

PARAMETERS
 * /controller_configuration
 * /diagnostic_aggregator/analyzers/computers/contains
 * /diagnostic_aggregator/analyzers/computers/path
 * /diagnostic_aggregator/analyzers/computers/type
 * /diagnostic_aggregator/analyzers/hrpsys/contains
 * /diagnostic_aggregator/analyzers/hrpsys/path
 * /diagnostic_aggregator/analyzers/hrpsys/type
 * /diagnostic_aggregator/analyzers/mode/contains
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/motor/contains
 * /diagnostic_aggregator/analyzers/motor/path
 * /diagnostic_aggregator/analyzers/motor/type
 * /diagnostic_aggregator/base_path
 * /diagnostic_aggregator/pub_rate
 * /robot_description
 * /rosdistro
 * /rosversion

NODES
  /
    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)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    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 rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[HrpsysSeqStateROSBridge-1]: started with pid [13982]
[ INFO] [1397569743.657261355]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
process[HrpsysJointTrajectoryBridge-2]: started with pid [14032]
Loading body customizer "/home/leus/ros/hydro/src/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1397569743.777930248]: [HrpsysSeqStateROSBridge] Loaded main_nohHands
[ INFO] [1397569743.781803869]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
Loading body customizer "/home/leus/ros/hydro/src/rtm-ros-robotics/openrtm_common/openhrp3/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L)
[ INFO] [1397569743.839960735]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[hrpsys_state_publisher-3]: started with pid [14052]
process[hrpsys_ros_diagnostics-4]: started with pid [14087]
process[diagnostic_aggregator-5]: started with pid [14093]
process[hrpsys_profile-6]: started with pid [14181]
process[sensor_ros_bridge_connect-7]: started with pid [14191]
[sensor_ros_bridge_connect.py]  start
configuration ORB with  hiro014 : 15005
process[rtmlaunch_hrpsys_ros_bridge-8]: started with pid [14220]
[rtmlaunch] starting...  /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS hiro014:15005 hiro014:15005
[rtmlaunch] SIMULATOR_NAME RobotHardware0
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from hiro014:15005/RobotHardware0.rtc:q
[rtmlaunch]             to hiro014:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from hiro014:15005/RobotHardware0.rtc:tau
[rtmlaunch]             to hiro014:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Wait for  /hiro014:15005/StateHolderServiceROSBridge.rtc:StateHolderService   0 /30
process[SequencePlayerServiceROSBridge-9]: started with pid [14264]
[sensor_ros_bridge_connect.py]  wait for RTCmanager :  hiro014
process[DataLoggerServiceROSBridge-10]: started with pid [14306]
[rtmlaunch] Wait for  /hiro014:15005/StateHolderServiceROSBridge.rtc:StateHolderService   1 /30
[sensor_ros_bridge_connect.py]  wait for RobotHardware0  :  <hrpsys.rtm.RTcomponent instance at 0x334ab48> (timeout  0  < 10)
[sensor_ros_bridge_connect.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x334ab48> isActive? =  False
[sensor_ros_bridge_connect.py]  simulation_mode :  False
process[ForwardKinematicsServiceROSBridge-11]: started with pid [14347]
process[StateHolderServiceROSBridge-12]: started with pid [14370]
[rtmlaunch] Wait for  /hiro014:15005/StateHolderServiceROSBridge.rtc:StateHolderService   2 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  <hrpsys.rtm.RTcomponent instance at 0x334bb48>
[sensor_ros_bridge_connect.py]    bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
[sensor_ros_bridge_connect-7] process has finished cleanly
log file: /home/leus/.ros/log/1e5dda4c-c49f-11e3-bd20-001f2905a411/sensor_ros_bridge_connect-7*.log
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   0 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   1 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   2 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   3 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   4 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   5 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   6 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   7 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   8 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   9 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   10 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   11 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   12 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   13 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   14 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   15 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   16 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   17 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   18 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   19 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   20 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   21 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   22 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   23 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   24 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   25 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   26 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   27 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   28 /30
[rtmlaunch] Wait for  /hiro014:15005/sh.rtc:StateHolderService   29 /30
[rtmlaunch] [ERROR] Could not Connect ( /hiro014:15005/StateHolderServiceROSBridge.rtc:StateHolderService , /hiro014:15005/sh.rtc:StateHolderService ):  No such object: /hiro014:15005/sh.rtc:StateHolderService 
[rtmlaunch] Activate <- Inactive /hiro014:15005/HrpsysSeqStateROSBridge0.rtc
[ WARN] [1397569782.293590324]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
[rtmlaunch] Activate <- Inactive /hiro014:15005/HrpsysJointTrajectoryBridge0.rtc
[ INFO] [1397569782.352091746]: ADD_GROUP: larm (/larm_controller)
[ INFO] [1397569782.352168756]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(larm), CORBA::SystemException INV_OBJREF
[rtmlaunch] Activate <- Inactive /hiro014:15005/DataLoggerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro014:15005/SequencePlayerServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro014:15005/ForwardKinematicsServiceROSBridge.rtc
[rtmlaunch] Activate <- Inactive /hiro014:15005/StateHolderServiceROSBridge.rtc
[ INFO] [1397569783.372996793]: ADD_GROUP: rarm (/rarm_controller)
[ INFO] [1397569783.373155388]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(rarm), CORBA::SystemException INV_OBJREF
^C[StateHolderServiceROSBridge-12] killing on exit
[ForwardKinematicsServiceROSBridge-11] killing on exit
 [DataLoggerServiceROSBridge-10] killing on exit
[SequencePlayerServiceROSBridge-9] killing on exit
[rtmlaunch_hrpsys_ros_bridge-8] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[hrpsys_profile-6] killing on exit
[diagnostic_aggregator-5] killing on exit
[hrpsys_ros_diagnostics-4] killing on exit
[HrpsysJointTrajectoryBridge-2] killing on exit
[hrpsys_state_publisher-3] killing on exit
[HrpsysSeqStateROSBridge-1] killing on exit
[ INFO] [1397569784.018363433]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
state_publisher: /usr/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:26: boost::pthread::pthread_mutex_scoped_lock::pthread_mutex_scoped_lock(pthread_mutex_t*): Assertion `!pthread_mutex_lock(m)' failed.
[ INFO] [1397569784.392760705]: ADD_GROUP: head (/head_controller)
[ INFO] [1397569784.392834513]:     JOINT: HEAD_JOINT0 HEAD_JOINT1
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(head), CORBA::SystemException INV_OBJREF
[ INFO] [1397569785.412909320]: ADD_GROUP: torso (/torso_controller)
[ INFO] [1397569785.412988075]:     JOINT: CHEST_JOINT0
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(torso), CORBA::SystemException INV_OBJREF
[ INFO] [1397569786.433176462]: ADD_GROUP: larm_torso (/larm_torso_controller)
[ INFO] [1397569786.433288345]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(larm_torso), CORBA::SystemException INV_OBJREF
[ INFO] [1397569787.454190436]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
[ INFO] [1397569787.454243022]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil reference.
[HrpsysJointTrajectoryBridge] addJointGroup(rarm_torso), CORBA::SystemException INV_OBJREF
[ INFO] [1397569788.475168981]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
[ INFO] [1397569788.488269561]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
[ INFO] [1397569788.501068303]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
[ INFO] [1397569788.514030625]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
[ INFO] [1397569788.526714704]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
[ INFO] [1397569788.539245449]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
HrpsysJointTrajectoryBridge: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = HrpsysJointTrajectoryBridge::jointTrajectoryActionObj]: Assertion `px != 0' failed.
shutting down processing monitor...
... shutting down processing monitor complete
done

leus@sculptor:~$ rtls /hiro014:15005/
HrpsysSeqStateROSBridge0.rtc           ModelLoader
ForwardKinematicsServiceROSBridge.rtc  SequencePlayerServiceROSBridge.rtc
DataLoggerServiceROSBridge.rtc         HrpsysJointTrajectoryBridge0.rtc
hiro014.host_cxt/                       StateHolderServiceROSBridge.rtc
RobotHardware0.rtc

$ export ROBOT=H7
$ make ROBOT=H7

    $ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py RobotHardware0 /opt/jsk/etc/HIRONX/model/main.wrl -- -ORBInitRef NameService=corbaloc:iiop:192.168.128.10:15005/NameService
    Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
    Type "copyright", "credits" or "license" for more information.

    IPython 0.13.2 -- An enhanced Interactive Python.
    ?         -> Introduction and overview of IPython's features.
    %quickref -> Quick reference.
    help      -> Python's own help system.
    object?   -> Details about 'object', use 'object??' for extra details.
    ---------------------------------------------------------------------------
    ImportError                               Traceback (most recent call last)
    /usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
        176             else:
        177                 filename = fname
    --> 178             __builtin__.execfile(filename, *where)

    /home/n130s/data/Dropbox/ROS/hydro_raring/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
         37 
         38 import argparse
    ---> 39 import rtm
         40 
         41 from nextage_ros_bridge import nextage_client

    ImportError: No module named rtm

$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py RobotHardware0 /opt/jsk/etc/HIRONX/model/main.wrl -- -ORBInitRef NameService=corbaloc:iiop:nxc100:15005/NameService
Python 2.7.3 (default, Sep 26 2013, 20:03:06) 
Type "copyright", "credits" or "license" for more information.

IPython 0.12.1 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  nxc100 : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
[hrpsys.py]  wait for RTCmanager :  None
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  0  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  1  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  2  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  3  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  4  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  5  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  6  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  7  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  8  < 10)
[hrpsys.py]  wait for RobotHardware0  :  None (timeout  9  < 10)
[hrpsys.py]  Could not find  RobotHardware0
[hrpsys.py]  Candidates are .... ---------------------------------------------------------------------------
BAD_PARAM                                 Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    173             else:
    174                 filename = fname
--> 175             __builtin__.execfile(filename, *where)

/home/rosuser/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     27         args.modelfile = unknown[1]
     28     nxc = nextage_client.NextageClient()
---> 29     nxc.init(robotname=args.robot, url=args.modelfile)
     30 
     31 # for simulated robot


/home/rosuser/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.pyc in init(self, robotname, url)
     77         @type url: str
     78         '''
---> 79         HIRONX.init(self, robotname=robotname, url=url)
     80 
     81     def turn_handlight_r(self, is_on=True):

/home/rosuser/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url)
     62         @type url: str
     63         '''
---> 64         HrpsysConfigurator.init(self, robotname=robotname, url=url)
     65         self.setSelfGroups()
     66 

/home/rosuser/link/ROS/groovy_precise/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in init(self, robotname, url)
    681 
    682         print self.configurator_name, "finding RTCManager and RobotHardware"
--> 683         self.waitForRTCManagerAndRoboHardware(robotname)
    684         self.sensors = self.getSensors(url)
    685 

/home/rosuser/link/ROS/groovy_precise/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRTCManagerAndRoboHardware(self, robotname, managerhost)
    495     def waitForRTCManagerAndRoboHardware(self, robotname="Robot", managerhost=nshost):
    496         self.waitForRTCManager(managerhost)
--> 497         self.waitForRobotHardware(robotname)
    498         self.checkSimulationMode()
    499 

/home/rosuser/link/ROS/groovy_precise/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRobotHardware(self, robotname)
    475             print self.configurator_name, "Could not find ", robotname
    476             if self.ms:
--> 477                 print self.configurator_name, "Candidates are .... ", [x.name()  for x in self.ms.get_components()]
    478             print self.configurator_name, "Exitting.... ", robotname
    479             exit(1)

/home/rosuser/link/ROS/groovy_precise/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.pyc in get_components(self)
    224         def get_components(self):
    225                 cs = []
--> 226                 crefs = self.ref.get_components()
    227                 for cref in crefs:
    228                         c = RTcomponent(cref)

/home/rosuser/catkinws/src/rtm-ros-robotics/openrtm_common/openrtm_aist_core/openrtm_aist_python/lib/python2.7/site-packages/OpenRTM_aist/RTM_IDL/Manager_idl.pyc in get_components(self, *args)
    163 
    164     def get_components(self, *args):
--> 165         return _omnipy.invoke(self, "get_components", _0_RTM.Manager._d_get_components, args)
    166 
    167     def get_component_profiles(self, *args):

BAD_PARAM: CORBA.BAD_PARAM(omniORB.BAD_PARAM_IndexOutOfRange, CORBA.COMPLETED_NO)

$ roslaunch nextage_moveit_config moveit_planning_execution.launch
... logging to /home/yutaka/.ros/log/5dd45c68-e570-11e3-8f26-6480995f8700/roslaunch-yutaka-lnx1307-22965.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yutaka-lnx1307:51254/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution
 * /move_group/capabilities
 * /move_group/controller_list
 * /move_group/controller_manager_name
 * /move_group/controller_manager_ns
 * /move_group/jiggle_fraction
 * /move_group/left_arm/kinematics_solver
 * /move_group/left_arm/kinematics_solver_attempts
 * /move_group/left_arm/kinematics_solver_search_resolution
 * /move_group/left_arm/kinematics_solver_timeout
 * /move_group/left_arm/longest_valid_segment_fraction
 * /move_group/left_arm/planner_configs
 * /move_group/left_arm/projection_evaluator
 * /move_group/max_safe_path_cost
 * /move_group/moveit_controller_manager
 * /move_group/moveit_manage_controllers
 * /move_group/planner_configs/BKPIECEkConfigDefault/type
 * /move_group/planner_configs/ESTkConfigDefault/type
 * /move_group/planner_configs/KPIECEkConfigDefault/type
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type
 * /move_group/planner_configs/PRMkConfigDefault/type
 * /move_group/planner_configs/PRMstarkConfigDefault/type
 * /move_group/planner_configs/RRTConnectkConfigDefault/type
 * /move_group/planner_configs/RRTkConfigDefault/type
 * /move_group/planner_configs/RRTstarkConfigDefault/type
 * /move_group/planner_configs/SBLkConfigDefault/type
 * /move_group/planner_configs/TRRTkConfigDefault/type
 * /move_group/planning_plugin
 * /move_group/planning_scene_monitor/publish_geometry_updates
 * /move_group/planning_scene_monitor/publish_planning_scene
 * /move_group/planning_scene_monitor/publish_state_updates
 * /move_group/planning_scene_monitor/publish_transforms_updates
 * /move_group/request_adapters
 * /move_group/right_arm/kinematics_solver
 * /move_group/right_arm/kinematics_solver_attempts
 * /move_group/right_arm/kinematics_solver_search_resolution
 * /move_group/right_arm/kinematics_solver_timeout
 * /move_group/right_arm/longest_valid_segment_fraction
 * /move_group/right_arm/planner_configs
 * /move_group/right_arm/projection_evaluator
 * /move_group/start_state_max_bounds_error
 * /move_group/use_controller_manager
 * /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
 * /robot_description_semantic
 * /rosdistro
 * /rosversion
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_attempts
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_search_resolution
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_timeout
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_attempts
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_search_resolution
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_timeout

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    rviz_yutaka_lnx1307_22965_7114027598889966647 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[move_group-1]: started with pid [22988]
process[rviz_yutaka_lnx1307_22965_7114027598889966647-2]: started with pid [23012]
[ INFO] [1401176553.225739891]: rviz version 1.10.16
[ INFO] [1401176553.225818259]: compiled against OGRE version 1.7.4 (Cthugha)
[ WARN] [1401176553.247658825]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


[ERROR] [1401176553.467613367, 17.580000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176553.485277730, 17.610000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176553.494279357, 17.615000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176553.656842324, 17.800000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176553.657203423, 17.800000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176553.657248624, 17.800000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176553.657689488, 17.800000000]: Loading robot model 'HiroNX'...
[ INFO] [1401176554.251673484, 18.385000000]: Stereo is NOT SUPPORTED
[ INFO] [1401176554.251811146, 18.385000000]: OpenGl version: 3 (GLSL 1.3).
[ WARN] [1401176554.304348918, 18.445000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


[ERROR] [1401176554.569392362, 18.710000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176554.582604737, 18.725000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176554.593199476, 18.735000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176554.848872337, 18.990000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176554.849254158, 18.990000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176554.849338720, 18.990000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176554.849621160, 18.990000000]: Loading robot model 'HiroNX'...
[ WARN] [1401176554.966085296, 19.110000000]: The root link WAIST_Link 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.
[ WARN] [1401176555.022030792, 19.165000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


[ERROR] [1401176555.259152494, 19.405000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176555.272286436, 19.405000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176555.284080038, 19.425000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176555.586442286, 19.735000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176555.586894665, 19.735000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176555.587099646, 19.735000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176555.587495216, 19.735000000]: Loading robot model 'HiroNX'...
[ WARN] [1401176555.657729864, 19.805000000]: The root link WAIST_Link 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.
[ INFO] [1401176555.790236623, 19.935000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1401176555.796922784, 19.935000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1401176555.796986550, 19.935000000]: Starting scene monitor
[ INFO] [1401176555.799564528, 19.940000000]: Listening to '/planning_scene'
[ INFO] [1401176555.799722144, 19.940000000]: Starting world geometry monitor
[ INFO] [1401176555.807560106, 19.945000000]: Listening to '/collision_object' using message notifier with target frame '/WAIST_Link '
[ INFO] [1401176555.809421118, 19.950000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN] [1401176555.811365338, 19.955000000]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1401176555.832477897, 19.980000000]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are  rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/Range rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
[ INFO] [1401176555.870244714, 20.005000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1401176556.150819929, 20.300000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1401176556.252903430, 20.405000000]: Using planning interface 'OMPL'
[ INFO] [1401176556.418866282, 20.535000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1401176556.420789729, 20.535000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1401176556.422293900, 20.535000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1401176556.423851842, 20.535000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1401176556.425442054, 20.535000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1401176556.428564602, 20.540000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1401176556.428692906, 20.540000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1401176556.428730481, 20.540000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1401176556.428761220, 20.540000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1401176556.428789656, 20.540000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1401176556.428817577, 20.540000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1401176556.485517049, 20.605000000]: Exception while loading controller manager 'pr2_moveit_controller_manager/Pr2MoveItControllerManager': According to the loaded plugin descriptions the class pr2_moveit_controller_manager/Pr2MoveItControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are 
[ INFO] [1401176556.506659258, 20.635000000]: Trajectory execution is managing controllers
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
[ERROR] [1401176556.727566105, 20.875000000]: Exception while loading move_group capability 'move_group/MoveGroupPickPlaceAction': According to the loaded plugin descriptions the class move_group/MoveGroupPickPlaceAction with base class type move_group::MoveGroupCapability does not exist. Declared types are  move_group/MoveGroupCartesianPathService move_group/MoveGroupExecuteService move_group/MoveGroupGetPlanningSceneService move_group/MoveGroupKinematicsService move_group/MoveGroupMoveAction move_group/MoveGroupPlanService move_group/MoveGroupQueryPlannersService move_group/MoveGroupStateValidationService
Available capabilities: move_group/MoveGroupCartesianPathService, move_group/MoveGroupExecuteService, move_group/MoveGroupGetPlanningSceneService, move_group/MoveGroupKinematicsService, move_group/MoveGroupMoveAction, move_group/MoveGroupPlanService, move_group/MoveGroupQueryPlannersService, move_group/MoveGroupStateValidationService
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1401176556.735212678, 20.885000000]: 

********************************************************
* MoveGroup using: 
*     - CartesianPathService
*     - ExecutePathService
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1401176556.735310096, 20.885000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1401176556.735350307, 20.885000000]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!