wait-interpolation does not come back #2106
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k-okada
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May 20, 2017
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we this is very difficult problem, the root cause if that roseus only support one subscriber for one topic, |
k-okada
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May 22, 2017
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@k-okada |
k-okada
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May 23, 2017
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please check if jsk-ros-pkg/jsk_roseus#519 solves
your problem
…--
◉ Kei Okada
2017-05-23 10:51 GMT+09:00 Yuto Uchimi <[email protected]>:
@k-okada <https://github.com/k-okada>
Without roslaunch jsk_arc2017_baxter baxter.launch (i.e. on Kinematic
Simulator), the problem reported above does not occur.
But when I ran roslaunch jsk_arc2017_baxter baxter.launch and then roseus
test-wait-interpolation.l, it occured.
As soon as I ran (test) function, the messages shown below flew in
baxter.launch terminal.
[ INFO] [1495502905.841263615]: /gripper_trajectory_server: Executing requested joint trajectory for left/ gripper
[ INFO] [1495502905.846096493]: /gripper_trajectory_server: Executing requested joint trajectory for right/ gripper
[INFO] [WallTime: 1495502905.853196] /baxter_joint_trajectory: Executing requested joint trajectory
[INFO] [WallTime: 1495502905.856959] /baxter_joint_trajectory: Executing requested joint trajectory
[ INFO] [1495502905.891644130]: /gripper_trajectory_server: Succeeded for left/ gripper
[ INFO] [1495502905.896373289]: /gripper_trajectory_server: Succeeded for right/ gripper
[INFO] [WallTime: 1495502906.006313] /baxter_joint_trajectory: Joint Trajectory Action Succeeded for left arm
[INFO] [WallTime: 1495502906.012384] /baxter_joint_trajectory: Joint Trajectory Action Succeeded for right arm
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k-okada
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May 23, 2017
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I checked it with gazebo simulator, but it does not solve the problem. roseus debug: https://gist.github.com/knorth55/c8e76f8d5ce62877665259e790d25661 |
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I tested with |
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I had
```[ERROR] [WallTime: 1495761897.518435] [87.089000] bad callback: <bound
method Limb._on_sea_joint_state of <baxter_interface.limb.Limb object at
0x7f69c71ca590>>
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line
720, in _invoke_callback
cb(msg)
File
"/home/k-okada/catkin_ws/ws_jsk_apc/src/FOR_LATEST_BAXTEREUS/baxter_interface/src/baxter_interface/limb.py",
line 195, in _on_sea_joint_state
self._joint_commanded_angle[name] = msg.commanded_position[idx]
IndexError: tuple index out of range
```
error when run
`roslaunch jsk_2016_01_baxter_apc baxter_sim.launch`
what is you workspace configuration?
```
$ wstool info -t src
workspace: /home/k-okada/catkin_ws/ws_jsk_apc/src
Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]
--------- - --- -------------- ----------- ---------------------------
start-jsk/jsk_apc git master ea1cc4d github.com/start-jsk/jsk_apc.git
FOR_SIMULATION/baxter_simulator git gripper-sim 80d47cc24400 github.com/knorth55/baxter_simulator.git
FOR_SIMULATION/baxter_common git jsk_apc a722703d2ab6 github.com/knorth55/baxter_common.git
FOR_LATEST_BAXTEREUS/jsk_robot git master 0d386bcfcc97 github.com/jsk-ros-pkg/jsk_robot.git
FOR_LATEST_BAXTEREUS/baxter_interface M git jsk_apc 1058313dfdc1 github.com/wkentaro/baxter_interface.git
```
…--
◉ Kei Okada
2017-05-25 11:44 GMT+09:00 Shingo Kitagawa <[email protected]>:
[DEBUG] [1495616999.631652760, 403.579000000]: [/robot/head/head_action] find-status-by-goal-id goal_id:403570000000_/hoge_1495616808583406046_12132_/robot/head/head_action_0 == 403575000000_/hoge_1495616808583406046_12132_/robot/head/head_action_0 nil
[DEBUG] [1495616999.631918665, 403.579000000]: [/robot/head/head_action] find-status-by-goal-id goal_id:403575000000_/hoge_1495616808583406046_12132_/robot/head/head_action_0 == 403575000000_/hoge_1495616808583406046_12132_/robot/head/head_action_0 t
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<#2106 (comment)>,
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I wrote |
This error occurs when you use ─▪ wstool info -t .
workspace: /home/shingo/ros/indigo/src
Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]
--------- - --- -------------- ----------- ---------------------------
FOR_PCL1.8/ros-perception/perception_pcl git indigo-devel a9cc711516cf git://github.com/ros-perception/perception_pcl.git
FOR_PCL1.8/OctoMap/octomap_mapping git indigo-devel 122bc6023092 git://github.com/OctoMap/octomap_mapping.git
FOR_MOVEIT/moveit_robots git kinetic-devel a223e7777631 github.com/ros-planning/moveit_robots.git
FOR_SIMULATION/baxter_common V git master (jsk_apc) 6c4b0f375fe4 (a722703d2ab6) github.com/RethinkRobotics/baxter_common.git (github.com/knorth55/baxter_common.git)
FOR_SIMULATION/baxter_simulator V git gripper-sim 80d47cc24400 github.com/RethinkRobotics/baxter_simulator.git (github.com/knorth55/baxter_simulator.git)
FOR_LATEST_BAXTEREUS/baxter_interface V git master (jsk_apc) aea70d96eb0f (1058313dfdc1) github.com/RethinkRobotics/baxter_interface.git (github.com/wkentaro/baxter_interface.git)
start-jsk/jsk_apc git master ea1cc4d0ec40 github.com/start-jsk/jsk_apc.git
ros-drivers/openni2_camera git indigo-devel c60a46c91ebc github.com/ros-drivers/openni2_camera.git
ros-drivers/axis_camera git <detached> (8e17a795120ce97e59506c4228d023247451119e) 8e17a795120c github.com/ros-drivers/axis_camera.git
jsk-ros-pkg/jsk_pr2eus git master 53e38ba09267 github.com/jsk-ros-pkg/jsk_pr2eus.git
jsk-ros-pkg/jsk_robot git master 0d386bcfcc97 github.com/jsk-ros-pkg/jsk_robot.git
jsk-ros-pkg/jsk_recognition git master 31b4e60612af github.com/jsk-ros-pkg/jsk_recognition.git
jsk-ros-pkg/jsk_model_tools git master 862c0e6b46dd github.com/jsk-ros-pkg/jsk_model_tools.git
jsk-ros-pkg/jsk_common git master daa4dad83aab github.com/jsk-ros-pkg/jsk_common.git
RethinkRobotics/baxter_tools git <detached> (v1.2.0) 0da6ea300e1f github.com/RethinkRobotics/baxter_tools.git
RethinkRobotics/baxter_examples git <detached> (v1.2.0) 033756294b59 github.com/RethinkRobotics/baxter_examples.git
RethinkRobotics/baxter git <detached> (v1.2.0) d2f2ebd1166b github.com/RethinkRobotics/baxter.git
Also detected these repositories in the workspace, add using 'wstool scrape' or 'wstool set':
Localname SCM URI (Spec) [http(s)://...]
--------- --- ---------------------------
FA-I-sensor --git https://github.com/RoboticMaterials/FA-I-sensor.git
jsk-ros-pkg/jsk_roseus --git git://github.com/jsk-ros-pkg/jsk_roseus.git
proximity_gripper_demo --git [email protected]:knorth55/proximity_gripper_demo.git
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Oh, does |
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It is published, and it seems values in msg are correctly set. $ rostopic echo -n2 /robot/limb/right/gravity_compensation_torques
header:
seq: 9006
stamp:
secs: 116
nsecs: 760000000
frame_id: base
name: ['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2']
commanded_position: []
commanded_velocity: []
commanded_acceleration: []
commanded_effort: []
actual_position: [-0.2726580461055823, 1.0470000111083042, 0.020832877809258576, 0.4983703989903141, -0.08187191303224761, 0.0356256514383535, 0.02590261830741003]
actual_velocity: [-1.790584137615158e-07, -4.884687808535537e-06, 7.576766461844993e-06, 2.053590664691191e-05, 9.180419368902437e-06, -5.226140336383654e-06, -1.1565164862003564e-05]
actual_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
gravity_model_effort: [-2.324380934055779e-17, -15.216235448076615, 0.13533974153901387, 0.007158229029370099, 0.008567042292249827, 0.13145252735240476, -6.650358935959678e-05]
gravity_only: []
hysteresis_model_effort: []
crosstalk_model_effort: []
hystState: 0.0
---
header:
seq: 9007
stamp:
secs: 116
nsecs: 770000000
frame_id: base
name: ['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2']
commanded_position: []
commanded_velocity: []
commanded_acceleration: []
commanded_effort: []
actual_position: [-0.27265804475092636, 1.0469999796519485, 0.0208329587975582, 0.4983700889647462, -0.0818717175338497, 0.0356261292149993, 0.025902374731095357]
actual_velocity: [9.24092321917973e-08, -2.7578802850888414e-05, -5.300224654981131e-06, -3.099341527145441e-05, 1.0874543677646053e-05, 4.8920947617842565e-05, -1.3270427869597849e-05]
actual_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
gravity_model_effort: [-6.548008089765104e-17, -15.216241357477442, 0.1353402353322854, 0.007153465370786764, 0.008567128027017019, 0.1314528683999635, -6.650431123148232e-05]
gravity_only: []
hysteresis_model_effort: []
crosstalk_model_effort: []
hystState: 0.0
---
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In real robot immediately after rebooted:
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the message is I have confirmed we can pass test as with following modification |
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In |
do you mean the roseus stops with error (jsk-ros-pkg/jsk_roseus#519 (comment)) or in the former case, it should fixed with jsk-ros-pkg/jsk_roseus@e77e5c7, in the later case, you may not using the jsk-ros-pkg/jsk_roseus#519 branch, you should see someething like |
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@k-okada @pazeshun can you check test code with real robot if possible? https://gist.github.com/knorth55/1c7bdfa9004c5de0615c5e27c18ce000 |
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I checked with the following workspace with jsk-ros-pkg/jsk_roseus#519 branch: I used latest master branch in |
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We need to wait new release of |
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Fixed via #2097 |
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:wait-interpolationdoes not come back.@k-okada
Test Script
https://gist.github.com/knorth55/1c7bdfa9004c5de0615c5e27c18ce000
Debug Output
https://gist.github.com/knorth55/0c2bad449fb51425e172fbf9b8855abb
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