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ARIAC Stack Trace

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  1. rosrun osrf_gear gear.py -f "$(catkin_find --first-only --share osrf_gear)/config/sample.yaml"
  2. writing file /tmp/ariac/gear.urdf.xacro
  3. writing file /tmp/ariac/gear.world
  4. writing file /tmp/ariac/gear.launch
  5. Running command: roslaunch /tmp/ariac/gear.launch world_path:=/tmp/ariac/gear.world gear_urdf_xacro:=/tmp/ariac/gear.urdf.xacro
  6. ... logging to /home/rstory/.ros/log/47726ad8-0074-11e7-90de-000c29811adb/roslaunch-ubuntu-64491.log
  7. Checking log directory for disk usage. This may take awhile.
  8. Press Ctrl-C to interrupt
  9. Done checking log file disk usage. Usage is <1GB.
  10.  
  11. xacro: Traditional processing is deprecated. Switch to --inorder processing!
  12. To check for compatibility of your document, use option --check-order.
  13. For more infos, see http://wiki.ros.org/xacro#Processing_Order
  14. redefining global property: pi
  15. when processing file: /tmp/ariac/gear.urdf.xacro
  16. xacro.py is deprecated; please use xacro instead
  17. started roslaunch server http://ubuntu:46791/
  18.  
  19. SUMMARY
  20. ========
  21.  
  22. PARAMETERS
  23.  * /ariac/arm/action_monitor_rate: 10
  24.  * /ariac/arm/constraints/elbow_joint/goal: 0.1
  25.  * /ariac/arm/constraints/elbow_joint/trajectory: 0.1
  26.  * /ariac/arm/constraints/goal_time: 0.6
  27.  * /ariac/arm/constraints/linear_arm_actuator_joint/goal: 0.1
  28.  * /ariac/arm/constraints/linear_arm_actuator_joint/trajectory: 0.1
  29.  * /ariac/arm/constraints/shoulder_lift_joint/goal: 0.1
  30.  * /ariac/arm/constraints/shoulder_lift_joint/trajectory: 0.1
  31.  * /ariac/arm/constraints/shoulder_pan_joint/goal: 0.1
  32.  * /ariac/arm/constraints/shoulder_pan_joint/trajectory: 0.1
  33.  * /ariac/arm/constraints/stopped_velocity_tolerance: 0.05
  34.  * /ariac/arm/constraints/wrist_1_joint/goal: 0.1
  35.  * /ariac/arm/constraints/wrist_1_joint/trajectory: 0.1
  36.  * /ariac/arm/constraints/wrist_2_joint/goal: 0.1
  37.  * /ariac/arm/constraints/wrist_2_joint/trajectory: 0.1
  38.  * /ariac/arm/constraints/wrist_3_joint/goal: 0.1
  39.  * /ariac/arm/constraints/wrist_3_joint/trajectory: 0.1
  40.  * /ariac/arm/gains/elbow_joint/d: 150
  41.  * /ariac/arm/gains/elbow_joint/i: 1
  42.  * /ariac/arm/gains/elbow_joint/i_clamp: 25
  43.  * /ariac/arm/gains/elbow_joint/p: 50000
  44.  * /ariac/arm/gains/linear_arm_actuator_joint/d: 500
  45.  * /ariac/arm/gains/linear_arm_actuator_joint/i: 0
  46.  * /ariac/arm/gains/linear_arm_actuator_joint/i_clamp: 1
  47.  * /ariac/arm/gains/linear_arm_actuator_joint/p: 10000
  48.  * /ariac/arm/gains/shoulder_lift_joint/d: 150
  49.  * /ariac/arm/gains/shoulder_lift_joint/i: 10
  50.  * /ariac/arm/gains/shoulder_lift_joint/i_clamp: 50
  51.  * /ariac/arm/gains/shoulder_lift_joint/p: 50000
  52.  * /ariac/arm/gains/shoulder_pan_joint/d: 150
  53.  * /ariac/arm/gains/shoulder_pan_joint/i: 0
  54.  * /ariac/arm/gains/shoulder_pan_joint/i_clamp: 1
  55.  * /ariac/arm/gains/shoulder_pan_joint/p: 10000
  56.  * /ariac/arm/gains/wrist_1_joint/d: 5
  57.  * /ariac/arm/gains/wrist_1_joint/i: 0
  58.  * /ariac/arm/gains/wrist_1_joint/i_clamp: 1
  59.  * /ariac/arm/gains/wrist_1_joint/p: 100
  60.  * /ariac/arm/gains/wrist_2_joint/d: 2
  61.  * /ariac/arm/gains/wrist_2_joint/i: 0
  62.  * /ariac/arm/gains/wrist_2_joint/i_clamp: 1
  63.  * /ariac/arm/gains/wrist_2_joint/p: 75
  64.  * /ariac/arm/gains/wrist_3_joint/d: 1
  65.  * /ariac/arm/gains/wrist_3_joint/i: 0
  66.  * /ariac/arm/gains/wrist_3_joint/i_clamp: 1
  67.  * /ariac/arm/gains/wrist_3_joint/p: 25
  68.  * /ariac/arm/joints: ['linear_arm_actu...
  69. * /ariac/arm/state_publish_rate: 25
  70. * /ariac/arm/stop_trajectory_duration: 0.5
  71. * /ariac/arm/type: effort_controller...
  72. * /joint_state_controller/extra_joints: [{'position': 0.0...
  73. * /joint_state_controller/publish_rate: 50
  74. * /joint_state_controller/type: joint_state_contr...
  75. * /robot_description: <?xml version="1....
  76. * /robot_state_publisher/publish_frequency: 50.0
  77. * /robot_state_publisher/tf_prefix:
  78. * /rosdistro: kinetic
  79. * /rosversion: 1.12.6
  80. * /use_sim_time: True
  81.  
  82. NODES
  83.  /
  84.    arm_controller_spawner (controller_manager/controller_manager)
  85.    fake_joint_calibration (rostopic/rostopic)
  86.    gazebo (gazebo_ros/gzserver)
  87.    gazebo_gui (gazebo_ros/gzclient)
  88.    joint_state_controller_spawner (controller_manager/controller_manager)
  89.    relay_joint_states (topic_tools/relay)
  90.    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  91.    spawn_gazebo_model (gazebo_ros/spawn_model)
  92.    startup_ariac (osrf_gear/startup.sh)
  93.  
  94. auto-starting new master
  95. process[master]: started with pid [64505]
  96. ROS_MASTER_URI=http://localhost:11311
  97.  
  98. setting /run_id to 47726ad8-0074-11e7-90de-000c29811adb
  99. process[rosout-1]: started with pid [64518]
  100. started core service [/rosout]
  101. process[relay_joint_states-2]: started with pid [64528]
  102. process[startup_ariac-3]: started with pid [64539]
  103. Ensuring scoring log file exists
  104. File already exists: /home/rstory/.ariac/log/performance.log
  105. process[gazebo-4]: started with pid [64546]
  106. process[gazebo_gui-5]: started with pid [64558]
  107. process[spawn_gazebo_model-6]: started with pid [64564]
  108. process[robot_state_publisher-7]: started with pid [64576]
  109. process[fake_joint_calibration-8]: started with pid [64581]
  110. process[joint_state_controller_spawner-9]: started with pid [64583]
  111. [startup_ariac-3] process has finished cleanly
  112. log file: /home/rstory/.ros/log/47726ad8-0074-11e7-90de-000c29811adb/startup_ariac-3*.log
  113. process[arm_controller_spawner-10]: started with pid [64589]
  114. spawn_model script started
  115. [ INFO] [1488588508.368918498]: Finished loading Gazebo ROS API Plugin.
  116. [ INFO] [1488588508.369844941]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  117. [INFO] [1488588508.453624, 0.000000]: Loading model xml from ros parameter
  118. [INFO] [1488588508.456363, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  119. Warning [parser.cc:437] Converting a deprecated SDF source[data-string].
  120. [INFO] [1488588509.363358, 0.000000]: Calling service /gazebo/spawn_urdf_model
  121. Warning [parser.cc:437] Converting a deprecated SDF source[data-string].
  122. [ INFO] [1488588509.413283564]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
  123. [ INFO] [1488588509.413348541]: Starting Laser Plugin (ns = /)!
  124. [ INFO] [1488588509.414911567]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
  125. [INFO] [1488588509.596586, 0.000000]: Spawn status: SpawnModel: Successfully spawned model
  126. [INFO] [1488588509.596917, 0.000000]: Waiting for service /gazebo/set_model_configuration
  127. [INFO] [1488588509.598558, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
  128. [INFO] [1488588510.600077, 0.000000]: Calling service /gazebo/set_model_configuration
  129. [INFO] [1488588510.602469, 0.000000]: Set model configuration status: SetModelConfiguration: success
  130. [ INFO] [1488588510.629882569, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  131. [ INFO] [1488588510.668766191, 0.062000000]: Physics dynamic reconfigure ready.
  132. [spawn_gazebo_model-6] process has finished cleanly
  133. log file: /home/rstory/.ros/log/47726ad8-0074-11e7-90de-000c29811adb/spawn_gazebo_model-6*.log
  134. ^[[A^C[arm_controller_spawner-10] killing on exit
  135. Traceback (most recent call last):
  136.  File "/opt/ros/kinetic/lib/controller_manager/controller_manager", line 63, in <module>
  137.    controller_manager_interface.load_controller(c)
  138.  File "/opt/ros/kinetic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 64, in load_controller
  139.    rospy.wait_for_service('controller_manager/load_controller')
  140.  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 149, in wait_for_service
  141.    time.sleep(0.3)
  142. KeyboardInterrupt
  143. [joint_state_controller_spawner-9] killing on exit
  144. [fake_joint_calibration-8] killing on exit
  145. Traceback (most recent call last):
  146.  File "/opt/ros/kinetic/lib/controller_manager/controller_manager", line 63, in <module>
  147.    controller_manager_interface.load_controller(c)
  148.  File "/opt/ros/kinetic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 64, in load_controller
  149.    rospy.wait_for_service('controller_manager/load_controller')
  150.  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 149, in wait_for_service
  151.    time.sleep(0.3)
  152. KeyboardInterrupt
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