Baxter simulator for ros testing - enable robot and untuck robot [3]

[alecive]

Hello,

I am trying to set up travis builds with an headless gazebo server to perform ros tests and integration tests. I am having a number of problems, which I will place in independent issues for the sake of sanity.

Problem 3 is that, even if I launch baxter_world.launch with roslaunch on a terminal, and then I rosrun enable_robot.py and tuck_arms.py manually, they crash for some reason while waiting for the robot (although the robot is there). I'd say they work 50% of the time, as you can see from here:

baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 85, in <module>
    sys.exit(main())
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 65, in main
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/robot_enable.py", line 89, in __init__
    (state_topic,)),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get robot state on robot/state
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 85, in <module>
    sys.exit(main())
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 65, in main
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/robot_enable.py", line 89, in __init__
    (state_topic,)),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get robot state on robot/state
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
[INFO][/rsdk_robot_enable::_toggle_enabled]: Robot Enabled
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools tuck_arms.py -u
[INFO][/rsdk_tuck_arms::main]: Untucking arms
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 266, in <module>
    main()
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 260, in main
    tucker = Tuck(tuck)
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 57, in __init__
    'left': baxter_interface.Limb('left'),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/limb.py", line 121, in __init__
    timeout_msg=err_msg)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Left limb init failed to get current joint_states from robot/joint_states
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools tuck_arms.py -u
[INFO][/rsdk_tuck_arms::main]: Untucking arms
[INFO][/rsdk_tuck_arms::_prepare_to_tuck]: Moving head to neutral position
[INFO][/rsdk_tuck_arms::supervised_tuck]: Untucking: Arms already Untucked; Moving to neutral position.
[INFO][/rsdk_tuck_arms::main]: Finished tuck

See #114 and #115 as well.