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fetch_pbd socket error

ruffsl
Feb 13th, 2017
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  1. $ roslaunch fetch_pbd_interaction pbd.launch
  2. ... logging to /home/ruffsl/.ros/log/58547894-f22f-11e6-9460-d8cb8a401fcc/roslaunch-fetch33-8755.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://fetch33:41774/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13. * /from_file:
  14. * /move_group/allow_trajectory_execution: True
  15. * /move_group/allowed_execution_duration_scaling: 1.2
  16. * /move_group/allowed_goal_duration_margin: 0.5
  17. * /move_group/arm/longest_valid_segment_fraction: 0.05
  18. * /move_group/arm/planner_configs: ['SBLkConfigDefau...
  19. * /move_group/arm/projection_evaluator: joints(shoulder_p...
  20. * /move_group/arm_with_torso/longest_valid_segment_fraction: 0.05
  21. * /move_group/arm_with_torso/planner_configs: ['SBLkConfigDefau...
  22. * /move_group/arm_with_torso/projection_evaluator: joints(torso_lift...
  23. * /move_group/capabilities: move_group/MoveGr...
  24. * /move_group/controller_list: [{'default': True...
  25. * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
  26. * /move_group/jiggle_fraction: 0.05
  27. * /move_group/max_safe_path_cost: 1
  28. * /move_group/moveit_controller_manager: moveit_simple_con...
  29. * /move_group/moveit_manage_controllers: True
  30. * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  31. * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  32. * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  33. * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  34. * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
  35. * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
  36. * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  37. * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  38. * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
  39. * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  40. * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
  41. * /move_group/planning_plugin: ompl_interface/OM...
  42. * /move_group/planning_scene_monitor/publish_geometry_updates: True
  43. * /move_group/planning_scene_monitor/publish_planning_scene: True
  44. * /move_group/planning_scene_monitor/publish_state_updates: True
  45. * /move_group/planning_scene_monitor/publish_transforms_updates: True
  46. * /move_group/request_adapters: default_planner_r...
  47. * /move_group/start_state_max_bounds_error: 0.1
  48. * /play_sound: True
  49. * /rail_segmentation/max_cluster_size: 50000
  50. * /rail_segmentation/point_cloud_topic: head_camera/depth...
  51. * /rail_segmentation/zones_config: /home/ruffsl/work...
  52. * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
  53. * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
  54. * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
  55. * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
  56. * /robot_description_kinematics/arm_with_torso/kinematics_solver: kdl_kinematics_pl...
  57. * /robot_description_kinematics/arm_with_torso/kinematics_solver_attempts: 3
  58. * /robot_description_kinematics/arm_with_torso/kinematics_solver_search_resolution: 0.005
  59. * /robot_description_kinematics/arm_with_torso/kinematics_solver_timeout: 0.005
  60. * /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True
  61. * /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True
  62. * /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.5
  63. * /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.5
  64. * /robot_description_planning/joint_limits/forearm_roll_joint/has_acceleration_limits: True
  65. * /robot_description_planning/joint_limits/forearm_roll_joint/has_velocity_limits: True
  66. * /robot_description_planning/joint_limits/forearm_roll_joint/max_acceleration: 1.5
  67. * /robot_description_planning/joint_limits/forearm_roll_joint/max_velocity: 1.57
  68. * /robot_description_planning/joint_limits/left_gripper_joint/has_acceleration_limits: False
  69. * /robot_description_planning/joint_limits/left_gripper_joint/has_velocity_limits: False
  70. * /robot_description_planning/joint_limits/left_gripper_joint/max_acceleration: 0
  71. * /robot_description_planning/joint_limits/left_gripper_joint/max_velocity: 0
  72. * /robot_description_planning/joint_limits/right_gripper_joint/has_acceleration_limits: False
  73. * /robot_description_planning/joint_limits/right_gripper_joint/has_velocity_limits: False
  74. * /robot_description_planning/joint_limits/right_gripper_joint/max_acceleration: 0
  75. * /robot_description_planning/joint_limits/right_gripper_joint/max_velocity: 0
  76. * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
  77. * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
  78. * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 1.0
  79. * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 1.0
  80. * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
  81. * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
  82. * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 1.5
  83. * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 1.256
  84. * /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: True
  85. * /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True
  86. * /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0.5
  87. * /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.1
  88. * /robot_description_planning/joint_limits/upperarm_roll_joint/has_acceleration_limits: True
  89. * /robot_description_planning/joint_limits/upperarm_roll_joint/has_velocity_limits: True
  90. * /robot_description_planning/joint_limits/upperarm_roll_joint/max_acceleration: 1.5
  91. * /robot_description_planning/joint_limits/upperarm_roll_joint/max_velocity: 1.57
  92. * /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True
  93. * /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True
  94. * /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 2.5
  95. * /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 2.26
  96. * /robot_description_planning/joint_limits/wrist_roll_joint/has_acceleration_limits: True
  97. * /robot_description_planning/joint_limits/wrist_roll_joint/has_velocity_limits: True
  98. * /robot_description_planning/joint_limits/wrist_roll_joint/max_acceleration: 2.5
  99. * /robot_description_planning/joint_limits/wrist_roll_joint/max_velocity: 2.26
  100. * /robot_description_semantic: <?xml version="1....
  101. * /rosbridge_websocket/address:
  102. * /rosbridge_websocket/authenticate: False
  103. * /rosbridge_websocket/delay_between_messages: 0
  104. * /rosbridge_websocket/fragment_timeout: 600
  105. * /rosbridge_websocket/max_message_size: None
  106. * /rosbridge_websocket/port: 9090
  107. * /rosbridge_websocket/retry_startup_delay: 5
  108. * /rosdistro: indigo
  109. * /rosversion: 1.11.20
  110. * /social_gaze: True
  111. * /to_file:
  112.  
  113. NODES
  114. /
  115. fetch_pbd_arm_control (fetch_pbd_interaction/pbd_arm_control_node.py)
  116. fetch_pbd_interaction (fetch_pbd_interaction/pbd_interaction_node.py)
  117. fetch_social_gaze (fetch_social_gaze/social_gaze_server.py)
  118. marker_proxy_1 (interactive_marker_proxy/proxy)
  119. marker_proxy_2 (interactive_marker_proxy/proxy)
  120. move_group (moveit_ros_move_group/move_group)
  121. pbd_world_node (fetch_pbd_interaction/pbd_world_node.py)
  122. rail_segmentation (rail_segmentation/rail_segmentation)
  123. rosapi (rosapi/rosapi_node)
  124. rosbridge_websocket (rosbridge_server/rosbridge_websocket)
  125. serve_web_interface (fetch_pbd_interaction/serve_web_interface.sh)
  126. tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)
  127.  
  128. ROS_MASTER_URI=http://localhost:11311
  129.  
  130. core service [/rosout] found
  131. running rosparam delete /move_group/sensors
  132. ERROR: parameter [/move_group/sensors] is not set
  133. process[fetch_social_gaze-1]: started with pid [8778]
  134. process[rosbridge_websocket-2]: started with pid [8779]
  135. process[rosapi-3]: started with pid [8780]
  136. process[marker_proxy_1-4]: started with pid [8781]
  137. process[marker_proxy_2-5]: started with pid [8782]
  138. process[tf2_web_republisher-6]: started with pid [8805]
  139. [ INFO] [1487019823.167375468]: Subscribing to /world_objects
  140. [ INFO] [1487019823.167429790]: Target frame set to /base_link
  141. registered capabilities (classes):
  142. - rosbridge_library.capabilities.call_service.CallService
  143. - rosbridge_library.capabilities.advertise.Advertise
  144. - rosbridge_library.capabilities.publish.Publish
  145. - rosbridge_library.capabilities.subscribe.Subscribe
  146. - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
  147. - rosbridge_library.capabilities.advertise_service.AdvertiseService
  148. - rosbridge_library.capabilities.service_response.ServiceResponse
  149. - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
  150. [ INFO] [1487019823.177040721]: Subscribing to /programmed_actions
  151. [ INFO] [1487019823.177131895]: Target frame set to /base_link
  152. [ INFO] [1487019823.185517044]: (INFO) General: Waiting for messages.
  153. [ INFO] [1487019823.193533976]: (INFO) General: Waiting for messages.
  154. [INFO] [WallTime: 1487019823.354211] Rosbridge WebSocket server started on port 9090
  155. [INFO] [WallTime: 1487019823.568541] Head action client has responded.
  156. process[serve_web_interface-7]: started with pid [9023]
  157. process[move_group-8]: started with pid [9025]
  158. process[rail_segmentation-9]: started with pid [9026]
  159. [ INFO] [1487019823.682865246]: 1 segmenation zone(s) parsed.
  160. [ INFO] [1487019823.682926152]: Segmenter Successfully Initialized
  161. [ INFO] [1487019823.708907681]: Loading robot model 'fetch'...
  162. [ INFO] [1487019823.708978870]: No root joint specified. Assuming fixed joint
  163. [ INFO] [1487019823.831748224]: Loading robot model 'fetch'...
  164. [ INFO] [1487019823.831795604]: No root joint specified. Assuming fixed joint
  165. [ WARN] [1487019823.872498233]: The root link base_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.
  166. [ INFO] [1487019823.880168856]: Loading robot model 'fetch'...
  167. [ INFO] [1487019823.880262951]: No root joint specified. Assuming fixed joint
  168. [ WARN] [1487019823.918921493]: The root link base_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.
  169. [ INFO] [1487019824.063741408]: Publishing maintained planning scene on 'monitored_planning_scene'
  170. [ INFO] [1487019824.066382229]: MoveGroup debug mode is OFF
  171. Starting context monitors...
  172. [ INFO] [1487019824.066409149]: Starting scene monitor
  173. [ INFO] [1487019824.068961092]: Listening to '/planning_scene'
  174. [ INFO] [1487019824.068988964]: Starting world geometry monitor
  175. [ INFO] [1487019824.071527147]: Listening to '/collision_object' using message notifier with target frame '/base_link '
  176. [ INFO] [1487019824.073840021]: Listening to '/planning_scene_world' for planning scene world geometry
  177. [ WARN] [1487019824.074264129]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
  178. process[fetch_pbd_arm_control-10]: started with pid [9351]
  179. [ INFO] [1487019824.241926291]: Listening to '/attached_collision_object' for attached collision objects
  180. Context monitors started.
  181. [ INFO] [1487019824.284279019]: Initializing OMPL interface using ROS parameters
  182. [ INFO] [1487019824.316609269]: Using planning interface 'OMPL'
  183. [ INFO] [1487019824.340410476]: Param 'default_workspace_bounds' was not set. Using default value: 10
  184. [ INFO] [1487019824.341093291]: Param 'start_state_max_bounds_error' was set to 0.1
  185. [ INFO] [1487019824.341662295]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  186. [ INFO] [1487019824.342209798]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  187. [ INFO] [1487019824.342739095]: Param 'jiggle_fraction' was set to 0.05
  188. [ INFO] [1487019824.343287265]: Param 'max_sampling_attempts' was not set. Using default value: 100
  189. [ INFO] [1487019824.343333377]: Using planning request adapter 'Add Time Parameterization'
  190. [ INFO] [1487019824.343349389]: Using planning request adapter 'Fix Workspace Bounds'
  191. [ INFO] [1487019824.343361074]: Using planning request adapter 'Fix Start State Bounds'
  192. [ INFO] [1487019824.343371982]: Using planning request adapter 'Fix Start State In Collision'
  193. [ INFO] [1487019824.343382533]: Using planning request adapter 'Fix Start State Path Constraints'
  194. [ INFO] [1487019824.602342213]: Added FollowJointTrajectory controller for arm_controller
  195. process[pbd_world_node-11]: started with pid [9543]
  196. [ INFO] [1487019824.874086751]: Added FollowJointTrajectory controller for arm_with_torso_controller
  197. [INFO] [WallTime: 1487019824.962289] Removing surface
  198. process[fetch_pbd_interaction-12]: started with pid [9659]
  199. [ INFO] [1487019825.179903511]: Added GripperCommand controller for gripper_controller
  200. [ INFO] [1487019825.179957019]: Returned 3 controllers in list
  201. [ INFO] [1487019825.196790350]: Trajectory execution is managing controllers
  202. Loading 'move_group/MoveGroupCartesianPathService'...
  203. Loading 'move_group/MoveGroupExecuteService'...
  204. Loading 'move_group/MoveGroupKinematicsService'...
  205. Loading 'move_group/MoveGroupMoveAction'...
  206. Loading 'move_group/MoveGroupPickPlaceAction'...
  207. [ WARN] [1487019825.263650755]: MessageFilter [target=/base_link ]: Discarding message from [/pbd_world_node] due to empty frame_id. This message will only print once.
  208. Loading 'move_group/MoveGroupPlanService'...
  209. Loading 'move_group/MoveGroupQueryPlannersService'...
  210. Loading 'move_group/MoveGroupStateValidationService'...
  211. Loading 'move_group/MoveGroupGetPlanningSceneService'...
  212. Loading 'move_group/ClearOctomapService'...
  213. [ INFO] [1487019825.306081890]:
  214.  
  215. ********************************************************
  216. * MoveGroup using:
  217. * - CartesianPathService
  218. * - ExecutePathService
  219. * - KinematicsService
  220. * - MoveAction
  221. * - PickPlaceAction
  222. * - MotionPlanService
  223. * - QueryPlannersService
  224. * - StateValidationService
  225. * - GetPlanningSceneService
  226. * - ClearOctomapService
  227. ********************************************************
  228.  
  229. [ INFO] [1487019825.306159681]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  230. [ INFO] [1487019825.306177382]: MoveGroup context initialization complete
  231.  
  232. All is well! Everyone is happy! You can start planning now!
  233.  
  234. [ INFO] [1487019825.407995695]: Loading robot model 'fetch'...
  235. [ INFO] [1487019825.408032558]: No root joint specified. Assuming fixed joint
  236. [ INFO] [1487019825.441187197]: (INFO) General: Receiving messages.
  237. [ INFO] [1487019825.441226870]: (INFO) /pbd_world_node: Waiting for init message.
  238. [ INFO] [1487019825.569837214]: Loading robot model 'fetch'...
  239. [ INFO] [1487019825.569888016]: No root joint specified. Assuming fixed joint
  240. [ INFO] [1487019825.585063412]: (INFO) /pbd_world_node: Init message received.
  241. [ INFO] [1487019825.595505817]: (INFO) /pbd_world_node: Receiving updates.
  242. [ WARN] [1487019825.610984243]: The root link base_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.
  243. [ INFO] [1487019825.616491827]: Loading robot model 'fetch'...
  244. [ INFO] [1487019825.616610734]: No root joint specified. Assuming fixed joint
  245. [ WARN] [1487019825.656891830]: The root link base_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.
  246. [ INFO] [1487019826.396797184]: Ready to take MoveGroup commands for group arm.
  247. [INFO] [WallTime: 1487019828.147952] Arm initialized.
  248. [INFO] [WallTime: 1487019828.291514] Got all arm services
  249. [INFO] [WallTime: 1487019828.369845] Got all head services
  250. [INFO] [WallTime: 1487019828.370963] Got all world services
  251. Traceback (most recent call last):
  252. File "/home/ruffsl/workspaces/fetchrobotics/src/fetch_pbd/fetch_pbd_interaction/nodes/pbd_interaction_node.py", line 28, in <module>
  253. interaction = Interaction()
  254. File "/home/ruffsl/workspaces/fetchrobotics/src/fetch_pbd/fetch_pbd_interaction/src/fetch_pbd_interaction/interaction.py", line 61, in __init__
  255. self._im_server)
  256. File "/home/ruffsl/workspaces/fetchrobotics/src/fetch_pbd/fetch_pbd_interaction/src/fetch_pbd_interaction/session.py", line 67, in __init__
  257. self._db = self._couch.create('fetch_pbd')
  258. File "/usr/lib/python2.7/dist-packages/couchdb/client.py", line 193, in create
  259. self.resource.put_json(validate_dbname(name))
  260. File "/usr/lib/python2.7/dist-packages/couchdb/http.py", line 405, in put_json
  261. status, headers, data = self.put(*a, **k)
  262. File "/usr/lib/python2.7/dist-packages/couchdb/http.py", line 384, in put
  263. return self._request('PUT', path, body=body, headers=headers, **params)
  264. File "/usr/lib/python2.7/dist-packages/couchdb/http.py", line 419, in _request
  265. credentials=self.credentials)
  266. File "/usr/lib/python2.7/dist-packages/couchdb/http.py", line 239, in request
  267. resp = _try_request_with_retries(iter(self.retry_delays))
  268. File "/usr/lib/python2.7/dist-packages/couchdb/http.py", line 205, in _try_request_with_retries
  269. raise e
  270. socket.error: [Errno 111] Connection refused
  271. terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  272. what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
  273. [fetch_pbd_interaction-12] process has died [pid 9659, exit code -6, cmd /home/ruffsl/workspaces/fetchrobotics/src/fetch_pbd/fetch_pbd_interaction/nodes/pbd_interaction_node.py __name:=fetch_pbd_interaction __log:=/home/ruffsl/.ros/log/58547894-f22f-11e6-9460-d8cb8a401fcc/fetch_pbd_interaction-12.log].
  274. log file: /home/ruffsl/.ros/log/58547894-f22f-11e6-9460-d8cb8a401fcc/fetch_pbd_interaction-12*.log
  275. [INFO] [WallTime: 1487019840.340729] Client connected. 1 clients total.
  276. [INFO] [WallTime: 1487019840.587644] [Client 0] Subscribed to /page_change
  277. [INFO] [WallTime: 1487019840.657251] Client connected. 2 clients total.
  278. [INFO] [WallTime: 1487019840.872902] [Client 1] Subscribed to /session_state
  279. [ERROR] [WallTime: 1487019840.874794] [Client 1] [id: call_service:/get_session_state:2] call_service InvalidServiceException: Service /get_session_state does not exist
  280. [INFO] [WallTime: 1487019848.160668] Client connected. 3 clients total.
  281. [INFO] [WallTime: 1487019848.303786] [Client 2] Subscribed to /tf2_web_republisher/feedback
  282. [INFO] [WallTime: 1487019848.311840] [Client 2] Subscribed to /visualization_marker_array
  283. [INFO] [WallTime: 1487019848.326918] [Client 2] Subscribed to programmed_actions/tunneled/update
  284. [ INFO] [1487019848.344253364]: Init requested.
  285. [INFO] [WallTime: 1487019848.345952] [Client 2] Subscribed to world_objects/tunneled/update
  286. [INFO] [WallTime: 1487019848.362802] [Client 2] Subscribed to /session_state
  287. [ERROR] [WallTime: 1487019848.363283] [Client 2] [id: call_service:/get_session_state:12] call_service InvalidServiceException: Service /get_session_state does not exist
  288. [ INFO] [1487019848.365333883]: Init requested.
  289. [INFO] [WallTime: 1487019848.371128] [Client 2] Subscribed to /fetch_pbd_status
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