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test-hironx-ros-bridge_local_ubuntu12.04_fail

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Nov 28th, 2014
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  1. $ rostest hironx_ros_bridge test-hironx-ros-bridge.test
  2. ... logging to /home/rosnoodle/.ros/log/rostest-tork-kudu1-vm-precise64-50154.log
  3. [ROSUNIT] Outputting test results to /mnt/hgfs/Dropbox_host/ROS/hydro_precise/cws_hiro_nxo/build/test_results/hironx_ros_bridge/rostest-test_test-hironx-ros-bridge.xml
  4. omniORB: Failed to bind to address :: port 2809. Address in use?
  5. omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2809
  6. Failed to initialise the ORB / POA: INITIALIZE_TransportError
  7. Is omniNames already running?
  8. ready
  9. loading file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  10. Collada Warning: fill asset info
  11. Collada Warning: generate normals from vertices
  12. Collada Warning: generate normals from vertices
  13. Collada Warning: generate normals from vertices
  14. Collada Warning: generate normals from vertices
  15. The model was successfully loaded !
  16. Warning: Model HiroNX has empty joint ID in the valid IDs.
  17. loading file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/idl/../../..//share/OpenHRP-3.1/sample/model/longfloor.wrl
  18. Humanoid node
  19. Joint nodeWAIST
  20.   Segment node BODY
  21. The model was successfully loaded !
  22. loading /home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  23. Collada Warning: fill asset info
  24. Collada Warning: generate normals from vertices
  25. Collada Warning: generate normals from vertices
  26. Collada Warning: generate normals from vertices
  27. Collada Warning: generate normals from vertices
  28. Collada Warning: generate normals from vertices
  29. Collada Warning: generate normals from vertices
  30. The model was successfully loaded !
  31. Warning: Model HiroNX has empty joint ID in the valid IDs.
  32. cache found for /home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  33. Warning: Model HiroNX has empty joint ID in the valid IDs.
  34. [ INFO] [1417219688.206311533]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
  35. [ WARN] [1417219688.356044817]: [HrpsysSeqStateROSBridge] use_hrpsys_time
  36. [ INFO] [1417219688.396694772]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
  37. cache found for /home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  38. Warning: Model HiroNX has empty joint ID in the valid IDs.
  39. cache found for /home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  40. Warning: Model HiroNX has empty joint ID in the valid IDs.
  41. [ INFO] [1417219688.416641927]: [HrpsysSeqStateROSBridge] Loaded HiroNX
  42. [ INFO] [1417219688.417294758]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
  43. configuration ORB with  localhost : 2809
  44. [hrpsys.py]  waiting ModelLoader
  45. [hrpsys.py]  start hrpsys
  46. [hrpsys.py]  finding RTCManager and RobotHardware
  47. [sensor_ros_bridge_connect.py]  start
  48. configuration ORB with  localhost : 2809
  49. [rtmlaunch] starting...  /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
  50. [rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
  51. [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
  52. [rtmlaunch] check connection/activation
  53. [rtmlaunch] Connected from localhost:2809/HiroNX(Robot)0.rtc:q
  54. [rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle
  55. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  56. [rtmlaunch] Connected from localhost:2809/HiroNX(Robot)0.rtc:tau
  57. [rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:rstorque
  58. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  59. [hrpsys.py]  wait for RTCmanager :  None
  60. [rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   0 /30
  61. [sensor_ros_bridge_connect.py]  wait for RTCmanager :  tork-kudu1-vm-precise64
  62. [rtmlaunch] starting...  /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch
  63. [rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
  64. [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
  65. [rtmlaunch] check connection/activation
  66. [hrpsys.py]  wait for HiroNX(Robot)0  :  <hrpsys.rtm.RTcomponent instance at 0x4061908> (timeout  0  < 10)
  67. [hrpsys.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x4061908> isActive? =  True
  68. [hrpsys.py]  simulation_mode :  True
  69. [hrpsys.py]    bodyinfo URL = file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  70. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  71. [hrpsys.py]  creating components
  72. sh: 1: rtcprof: not found
  73. sh: 1: rtcprof: not found
  74. sh: 1: rtcprof: not found
  75. sh: 1: rtcprof: not found
  76. sh: 1: rtcprof: not found
  77. [rtmlaunch] Connected from localhost:2809/HiroNX(Robot)0.rtc:q
  78. [rtmlaunch]             to localhost:2809/CollisionDetector0.rtc:qCurrent
  79. [rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
  80. sh: 1: rtcprof: not found
  81. sh: 1: rtcprof: not found
  82. sh: 1: rtcprof: not found
  83. sh: 1: rtcprof: not found
  84. sh: 1: rtcprof: not found
  85. sh: 1: rtcprof: not found
  86. sh: 1: rtcprof: not found
  87. configuration ORB with  localhost : 2809
  88. sh: 1: rtcprof: not found
  89. [INFO] [WallTime: 1417219690.998896] [0.000000]   bodyinfo URL = file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  90. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  91. [ERROR] [WallTime: 1417219691.003140] [0.000000] [collision_state.py] catch exception, restart rtc_init.
  92. Make sure collision_pair is set in .conf file. See https://github.com/start-jsk/rtmros_common/issues/247
  93. Original exception: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO)
  94. sh: 1: rtcprof: not found
  95. [rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   1 /30
  96. sh: 1: rtcprof: not found
  97. sh: 1: rtcprof: not found
  98. sh: 1: rtcprof: not found
  99. sh: 1: rtcprof: not found
  100. sh: 1: rtcprof: not found
  101. sh: 1: rtcprof: not found
  102. sh: 1: rtcprof: not found
  103. sh: 1: rtcprof: not found
  104. sh: 1: rtcprof: not found
  105. sh: 1: rtcprof: not found
  106. sh: 1: rtcprof: not found
  107. sh: 1: rtcprof: not found
  108. sh: 1: rtcprof: not found
  109. [sensor_ros_bridge_connect.py]  wait for HiroNX(Robot)0  :  <hrpsys.rtm.RTcomponent instance at 0x2b18518> (timeout  0  < 10)
  110. [sensor_ros_bridge_connect.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x2b18518> isActive? =  True
  111. sh: 1: rtcprof: not found
  112. sh: 1: rtcprof: not found
  113. [sensor_ros_bridge_connect.py]  simulation_mode :  True
  114. sh: 1: rtcprof: not found
  115. sh: 1: rtcprof: not found
  116. sh: 1: rtcprof: not found
  117. sh: 1: rtcprof: not found
  118. sh: 1: rtcprof: not found
  119. sh: 1: rtcprof: not found
  120. sh: 1: rtcprof: not found
  121. sh: 1: rtcprof: not found
  122. sh: 1: rtcprof: not found
  123. sh: 1: rtcprof: not found
  124. sh: 1: rtcprof: not found
  125. sh: 1: rtcprof: not found
  126. sh: 1: rtcprof: not found
  127. sh: 1: rtcprof: not found
  128. sh: 1: rtcprof: not found
  129. [rtmlaunch] Connected from localhost:2809/HiroNX(Robot)0.rtc:q
  130. [rtmlaunch]             to localhost:2809/CollisionDetector0.rtc:qRef
  131. [rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
  132. sh: 1: rtcprof: not found
  133. [hrpsys.py]    eval :  [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
  134. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  135. Warning: Model HiroNX has empty joint ID in the valid IDs.
  136. [hrpsys.py]  create Comp ->  SequencePlayer  :  <hrpsys.rtm.RTcomponent instance at 0x404d170>  ( 315.2.7 )
  137. [hrpsys.py]  create CompSvc ->  SequencePlayer Service :  <OpenHRP._objref_SequencePlayerService instance at 0x4072ab8>
  138. [hrpsys.py]    eval :  [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
  139. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  140. [hrpsys.py]  create Comp ->  StateHolder  :  <hrpsys.rtm.RTcomponent instance at 0x406e3b0>  ( 315.2.7 )
  141. [hrpsys.py]  create CompSvc ->  StateHolder Service :  <OpenHRP._objref_StateHolderService instance at 0x406d710>
  142. [hrpsys.py]    eval :  [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
  143. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  144. Warning: Model HiroNX has empty joint ID in the valid IDs.
  145. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  146. Warning: Model HiroNX has empty joint ID in the valid IDs.
  147. [hrpsys.py]  create Comp ->  ForwardKinematics  :  <hrpsys.rtm.RTcomponent instance at 0x4072e60>  ( 315.2.7 )
  148. [hrpsys.py]  create CompSvc ->  ForwardKinematics Service :  <OpenHRP._objref_ForwardKinematicsService instance at 0x4067dd0>
  149. [hrpsys.py]    eval :  [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
  150. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  151. Warning: Model HiroNX has empty joint ID in the valid IDs.
  152. [hrpsys.py]  create Comp ->  ImpedanceController  :  <hrpsys.rtm.RTcomponent instance at 0x406e4d0>  ( 315.2.7 )
  153. [hrpsys.py]  create CompSvc ->  ImpedanceController Service :  <OpenHRP._objref_ImpedanceControllerService instance at 0x4070950>
  154. [hrpsys.py]    eval :  [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
  155. ;;
  156. ;; Could not open /dev/console for writing.
  157. ;;
  158. open: Permission denied
  159. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  160. Warning: Model HiroNX has empty joint ID in the valid IDs.
  161. [hrpsys.py]  create Comp ->  SoftErrorLimiter  :  <hrpsys.rtm.RTcomponent instance at 0x40725f0>  ( 315.2.7 )
  162. [hrpsys.py]  create CompSvc ->  SoftErrorLimiter Service :  <OpenHRP._objref_SoftErrorLimiterService instance at 0x4070098>
  163. [hrpsys.py]    eval :  [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
  164. [WARNING] sc: needs servo.devname property
  165. [WARNING] sc: running in dummy mode
  166. [hrpsys.py]  create Comp ->  ServoController  :  <hrpsys.rtm.RTcomponent instance at 0x4067e18>  ( 315.2.7 )
  167. [hrpsys.py]  create CompSvc ->  ServoController Service :  <OpenHRP._objref_ServoControllerService instance at 0x4072950>
  168. [hrpsys.py]    eval :  [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
  169. [hrpsys.py]  create Comp ->  DataLogger  :  <hrpsys.rtm.RTcomponent instance at 0x4068d88>  ( 315.2.7 )
  170. [hrpsys.py]  create CompSvc ->  DataLogger Service :  <OpenHRP._objref_DataLoggerService instance at 0x4069a28>
  171. [hrpsys.py]    eval :  [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
  172. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  173. Warning: Model HiroNX has empty joint ID in the valid IDs.
  174. [hrpsys.py]  create Comp ->  RemoveForceSensorLinkOffset  :  <hrpsys.rtm.RTcomponent instance at 0x4067ef0>  ( 315.2.7 )
  175. [hrpsys.py]  create CompSvc ->  RemoveForceSensorLinkOffset Service :  <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x4069950>
  176. [hrpsys.py]  connecting components
  177. [rtmlaunch] Activate <- Inactive /localhost:2809/CollisionDetector0.rtc
  178. [rtm.py]    Connect sh.qOut - ic.qRef
  179. [rtm.py]    Connect ic.q - el.qRef
  180. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  181. [rtm.py]    Connect el.q - HGcontroller0.qIn
  182. [rtm.py]    Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef
  183. Warning: Model HiroNX has empty joint ID in the valid IDs.
  184. [rtm.py]    Connect HiroNX(Robot)0.q - sh.currentQIn
  185. [rtm.py]    Connect HiroNX(Robot)0.q - fk.q
  186. [rtm.py]    Connect sh.qOut - fk.qRef
  187. [rtm.py]    Connect seq.qRef - sh.qIn
  188. [rtm.py]    Connect seq.tqRef - sh.tqIn
  189. [rtm.py]    Connect seq.basePos - sh.basePosIn
  190. [rtm.py]    Connect seq.baseRpy - sh.baseRpyIn
  191. [rtm.py]    Connect seq.zmpRef - sh.zmpIn
  192. [rtm.py]    Connect seq.optionalData - sh.optionalDataIn
  193. [rtm.py]    Connect sh.basePosOut - seq.basePosInit
  194. [rtm.py]    Connect sh.basePosOut - fk.basePosRef
  195. [rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit
  196. [rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef
  197. [rtm.py]    Connect sh.qOut - seq.qInit
  198. [rtm.py]    Connect sh.zmpOut - seq.zmpRefInit
  199. [rtm.py]    Connect HiroNX(Robot)0.q - rmfo.qCurrent
  200. [rtm.py]    Connect HiroNX(Robot)0.q - ic.qCurrent
  201. prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
  202. check collisions between RARM_JOINT2 and LARM_JOINT2
  203. check collisions between RARM_JOINT3 and LARM_JOINT3
  204. check collisions between RARM_JOINT4 and LARM_JOINT4
  205. check collisions between RARM_JOINT5 and LARM_JOINT5
  206. [rtm.py]    Connect HiroNX(Robot)0.q - el.qCurrent
  207. [hrpsys.py]  activating components
  208. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  209. Warning: Model HiroNX has empty joint ID in the valid IDs.
  210. [hrpsys.py]  setup logger
  211. [hrpsys.py]    setupLogger : record type = TimedDoubleSeq , name =  q  to  HiroNX(Robot)0_q
  212. [rtm.py]    Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q
  213. [hrpsys.py]    setupLogger : record type = TimedDoubleSeq , name =  tau  to  HiroNX(Robot)0_tau
  214. [rtm.py]    Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_tau
  215. [hrpsys.py]  sensor names for DataLogger
  216. [hrpsys.py]    setupLogger : record type = TimedDoubleSeq , name =  qRef  to  seq_qRef
  217. [rtm.py]    Connect seq.qRef - log.seq_qRef
  218. [hrpsys.py]    setupLogger : record type = TimedDoubleSeq , name =  qOut  to  sh_qOut
  219. [rtm.py]    Connect sh.qOut - log.sh_qOut
  220. [hrpsys.py]    setupLogger : record type = TimedDoubleSeq , name =  tqOut  to  sh_tqOut
  221. [rtm.py]    Connect sh.tqOut - log.sh_tqOut
  222. [hrpsys.py]    setupLogger : record type = TimedPoint3D , name =  basePosOut  to  sh_basePosOut
  223. [rtm.py]    Connect sh.basePosOut - log.sh_basePosOut
  224. [hrpsys.py]    setupLogger : record type = TimedOrientation3D , name =  baseRpyOut  to  sh_baseRpyOut
  225. [rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut
  226. [hrpsys.py]    setupLogger : record type = TimedPoint3D , name =  zmpOut  to  sh_zmpOut
  227. [rtm.py]    Connect sh.zmpOut - log.sh_zmpOut
  228. [hrpsys.py]    setupLogger :  emergencySignal  arleady exists in DataLogger
  229. [rtm.py]    Connect HiroNX(Robot)0.emergencySignal - log.emergencySignal
  230. [rtmlaunch] Wait for  /localhost:2809/sh.rtc:StateHolderService   2 /30
  231. [hrpsys.py]  setup joint groups
  232. [sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  <hrpsys.rtm.RTcomponent instance at 0x2b197e8>
  233. [sensor_ros_bridge_connect.py]    bodyinfo URL = file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  234. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  235. [hrpsys.py]  initialized successfully
  236. [addJointGroup] group name TORSO is already installed
  237. [addJointGroup] group name HEAD is already installed
  238. [addJointGroup] group name RARM is already installed
  239. [addJointGroup] group name LARM is already installed
  240. configuration ORB with  localhost : 2809
  241. [INFO] [WallTime: 1417219693.010678] [0.000000]   bodyinfo URL = file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  242. cache found for file:///home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  243. [rtmlaunch] Connected from localhost:2809/StateHolderServiceROSBridge.rtc:StateHolderService
  244. [rtmlaunch]             to localhost:2809/sh.rtc:StateHolderService
  245. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  246. [rtmlaunch] Connected from localhost:2809/sh.rtc:baseTformOut
  247. [rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:baseTform
  248. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  249. [rtmlaunch] Connected from localhost:2809/sh.rtc:qOut
  250. [rtmlaunch]             to localhost:2809/HrpsysSeqStateROSBridge0.rtc:mcangle
  251. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  252. [rtmlaunch] Connected from localhost:2809/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
  253. [rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
  254. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  255. [rtmlaunch] Connected from localhost:2809/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
  256. [rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
  257. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  258. [rtmlaunch] Connected from localhost:2809/DataLoggerServiceROSBridge.rtc:DataLoggerService
  259. [rtmlaunch]             to localhost:2809/log.rtc:DataLoggerService
  260. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  261. [rtmlaunch] Connected from localhost:2809/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
  262. [rtmlaunch]             to localhost:2809/seq.rtc:SequencePlayerService
  263. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  264. [rtmlaunch] Connected from localhost:2809/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
  265. [rtmlaunch]             to localhost:2809/fk.rtc:ForwardKinematicsService
  266. [rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  267. [rtmlaunch] Activate <- Inactive /localhost:2809/HrpsysSeqStateROSBridge0.rtc
  268. [ INFO] [1417219696.402124482, 8.384999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz]
  269. [INFO] [WallTime: 1417219696.440300] [8.505000] check 4 collision status, 0.470312 Hz
  270. [rtmlaunch] Activate <- Inactive /localhost:2809/HrpsysJointTrajectoryBridge0.rtc
  271. [ INFO] [1417219696.665586043, 8.859999999]: ADD_GROUP: larm (/larm_controller)
  272. [ INFO] [1417219696.665748645, 8.859999999]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
  273. [addJointGroup] group name LARM is already installed
  274. [ INFO] [1417219696.720294470, 8.914999999]: ADD_GROUP: rarm (/rarm_controller)
  275. [ INFO] [1417219696.720363950, 8.914999999]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
  276. [addJointGroup] group name RARM is already installed
  277. [ INFO] [1417219696.774563818, 8.965000000]: ADD_GROUP: head (/head_controller)
  278. [ INFO] [1417219696.774622507, 8.965000000]:     JOINT: HEAD_JOINT0 HEAD_JOINT1
  279. [addJointGroup] group name HEAD is already installed
  280. [ INFO] [1417219696.845864033, 8.990000000]: ADD_GROUP: torso (/torso_controller)
  281. [ INFO] [1417219696.845934775, 8.990000000]:     JOINT: CHEST_JOINT0
  282. [addJointGroup] group name TORSO is already installed
  283. [ INFO] [1417219696.902522502, 9.035000000]: ADD_GROUP: larm_torso (/larm_torso_controller)
  284. [ INFO] [1417219696.902613111, 9.035000000]:     JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
  285. [INFO] [WallTime: 1417219696.926109] [9.050000] ros_client; 1
  286. [INFO] [WallTime: 1417219696.927695] [9.050000] ros_client; 2
  287. [INFO] [WallTime: 1417219696.928602] [9.050000] ros_client; 3
  288. [rtmlaunch] Activate <- Inactive /localhost:2809/DataLoggerServiceROSBridge.rtc
  289. [ INFO] [1417219696.938710080, 9.050000000]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
  290. [ INFO] [1417219696.938852583, 9.050000000]:     JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
  291. [INFO] [WallTime: 1417219697.038228] [9.100000] Joint names; Torso: ['CHEST_JOINT0']
  292.     Head: ['HEAD_JOINT0', 'HEAD_JOINT1']
  293.     L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
  294.     R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
  295. [ INFO] [1417219697.051588630, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  296. [ INFO] [1417219697.051916183, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
  297. [ INFO] [1417219697.052107488, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 1
  298. [ INFO] [1417219697.052238661, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 1
  299. [ INFO] [1417219697.052281251, 9.110000000]: [HrpsysJointTrajectoryBridge0]  0 0.349066
  300. [ INFO] [1417219697.052306552, 9.110000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: head
  301. [ INFO] [1417219697.052707006, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  302. [ INFO] [1417219697.052789973, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
  303. [ INFO] [1417219697.052851063, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1
  304. [ INFO] [1417219697.052965982, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 1
  305. [ INFO] [1417219697.053045604, 9.110000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  306. [ INFO] [1417219697.053081687, 9.110000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm
  307. [ INFO] [1417219697.053234562, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  308. [ INFO] [1417219697.053305874, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm)
  309. [ INFO] [1417219697.053372922, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1
  310. [ INFO] [1417219697.053449814, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1
  311. [ INFO] [1417219697.053551352, 9.110000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  312. [ INFO] [1417219697.053627584, 9.110000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm
  313. [ INFO] [1417219697.053806339, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  314. [ INFO] [1417219697.053876134, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso)
  315. [ INFO] [1417219697.053935842, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1
  316. [ INFO] [1417219697.054002042, 9.110000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 1
  317. [ INFO] [1417219697.054056212, 9.110000000]: [HrpsysJointTrajectoryBridge0]  0
  318. [ INFO] [1417219697.054125995, 9.110000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso
  319. [rtmlaunch] Activate <- Inactive /localhost:2809/SequencePlayerServiceROSBridge.rtc
  320. [rtmlaunch] Activate <- Inactive /localhost:2809/ForwardKinematicsServiceROSBridge.rtc
  321. [ INFO] [1417219697.404846268, 9.380000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz]
  322. [ERROR] [1417219697.519902130, 9.645000000]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
  323. [ INFO] [1417219697.520162955, 9.645000000]: Loading robot model 'HiroNX'...
  324. [ INFO] [1417219697.520280620, 9.645000000]: No root joint specified. Assuming fixed joint
  325. [rtmlaunch] Activate <- Inactive /localhost:2809/StateHolderServiceROSBridge.rtc
  326. [FATAL] [1417219697.787545301, 9.965000000]: Group 'left_arm' was not found.
  327. [ERROR] [WallTime: 1417219697.790322] [9.970000] Group 'left_arm' was not found.
  328. Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)
  329. [ INFO] [1417219698.061784853, 10.115000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  330. [ INFO] [1417219698.062941926, 10.115000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  331. [ INFO] [1417219698.063206723, 10.115000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  332. [ INFO] [1417219698.063748608, 10.115000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  333. [ INFO] [1417219698.069776111, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  334. [ INFO] [1417219698.069912693, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
  335. [ INFO] [1417219698.069933103, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 3
  336. [ INFO] [1417219698.069962993, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 1
  337. [ INFO] [1417219698.069988999, 10.115000000]: [HrpsysJointTrajectoryBridge0]  0 0
  338. [ INFO] [1417219698.070004914, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 2
  339. [ INFO] [1417219698.070015556, 10.115000000]: [HrpsysJointTrajectoryBridge0]  1.22173 1.22173
  340. [ INFO] [1417219698.070030347, 10.115000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 4
  341. [ INFO] [1417219698.070040703, 10.115000000]: [HrpsysJointTrajectoryBridge0]  -1.22173 -0.349066
  342. [ INFO] [1417219698.070054348, 10.115000000]: [HrpsysJointTrajectoryBridge0] playPatternGroup: head
  343. [ INFO] [1417219698.405849418, 10.380000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz]
  344. python: /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.
  345. [ INFO] [1417219699.410035626, 11.390000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  346. position limit over HEAD_JOINT0(2), qRef=1.22173, llimit =-1.22173, ulimit =1.22173, servo_state = ON, prev_angle = 1.22173
  347. position limit over HEAD_JOINT1(3), qRef=1.22173, llimit =-0.349066, ulimit =1.22173, servo_state = ON, prev_angle = 1.22173
  348. [ INFO] [1417219700.422598089, 12.400000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 200[Hz]
  349. [ INFO] [1417219701.424598619, 13.415000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  350. [INFO] [WallTime: 1417219701.451431] [13.510000] check 4 collision status, 0.799201 Hz
  351. [rtmlaunch] check connection/activation
  352. [ INFO] [1417219701.706837391, 13.910000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  353. [ INFO] [1417219702.425956211, 14.430000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 204[Hz]
  354. [ INFO] [1417219702.752362237, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  355. [ INFO] [1417219702.752484015, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
  356. [ INFO] [1417219702.752564540, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1
  357. [ INFO] [1417219702.752624214, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 1
  358. [ INFO] [1417219702.752698049, 14.965000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  359. [ INFO] [1417219702.752760262, 14.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm
  360. [ INFO] [1417219702.753628332, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  361. [ INFO] [1417219702.753702466, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
  362. [ INFO] [1417219702.753754307, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 1
  363. [ INFO] [1417219702.753856186, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 1
  364. [ INFO] [1417219702.753907065, 14.965000000]: [HrpsysJointTrajectoryBridge0]  0 0.349066
  365. [ INFO] [1417219702.753958184, 14.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: head
  366. [ INFO] [1417219702.754722286, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  367. [ INFO] [1417219702.754803880, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso)
  368. [ INFO] [1417219702.754833274, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1
  369. [ INFO] [1417219702.754871323, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 1
  370. [ INFO] [1417219702.754893693, 14.965000000]: [HrpsysJointTrajectoryBridge0]  0
  371. [ INFO] [1417219702.754913273, 14.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso
  372. [ INFO] [1417219702.755326720, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  373. [ INFO] [1417219702.755410017, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm)
  374. [ INFO] [1417219702.755441677, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1
  375. [ INFO] [1417219702.755491087, 14.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1
  376. [ INFO] [1417219702.755552754, 14.965000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  377. [ INFO] [1417219702.755601326, 14.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm
  378. [ INFO] [1417219703.426898944, 15.455000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 204[Hz]
  379. [ INFO] [1417219703.746038691, 15.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  380. [ INFO] [1417219703.746343436, 15.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  381. [ INFO] [1417219703.746534688, 15.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  382. [ INFO] [1417219703.746779448, 15.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  383. [ INFO] [1417219703.755581105, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  384. [ INFO] [1417219703.755657633, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
  385. [ INFO] [1417219703.755680401, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1
  386. [ INFO] [1417219703.755713856, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 1
  387. [ INFO] [1417219703.755725441, 15.965000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  388. [ INFO] [1417219703.755735488, 15.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm
  389. [ INFO] [1417219703.755856074, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  390. [ INFO] [1417219703.755899264, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm)
  391. [ INFO] [1417219703.755912460, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1
  392. [ INFO] [1417219703.755933724, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1
  393. [ INFO] [1417219703.755945190, 15.965000000]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  394. [ INFO] [1417219703.755955694, 15.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm
  395. [ INFO] [1417219703.756055570, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  396. [ INFO] [1417219703.756085005, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
  397. [ INFO] [1417219703.756097408, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 1
  398. [ INFO] [1417219703.756115976, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 1
  399. [ INFO] [1417219703.756126522, 15.965000000]: [HrpsysJointTrajectoryBridge0]  0 0.349066
  400. [ INFO] [1417219703.756144207, 15.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: head
  401. [ INFO] [1417219703.756241011, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  402. [ INFO] [1417219703.756266274, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso)
  403. [ INFO] [1417219703.756278596, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1
  404. [ INFO] [1417219703.756301420, 15.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 1
  405. [ INFO] [1417219703.756313096, 15.965000000]: [HrpsysJointTrajectoryBridge0]  0
  406. [ INFO] [1417219703.756322778, 15.965000000]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso
  407. [ INFO] [1417219704.428762162, 16.470000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 204[Hz]
  408. [ INFO] [1417219704.742633997, 16.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  409. [ INFO] [1417219704.742809837, 16.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  410. [ INFO] [1417219704.742895372, 16.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  411. [ INFO] [1417219704.743429025, 16.965000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  412. [ INFO] [1417219704.758499967, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  413. [ INFO] [1417219704.758639514, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
  414. [ INFO] [1417219704.758675168, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 3
  415. [ INFO] [1417219704.758782920, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 1
  416. [ INFO] [1417219704.758860203, 16.965000000]: [HrpsysJointTrajectoryBridge0]  0 0 0 0 0 0
  417. [ INFO] [1417219704.758903495, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 2
  418. [ INFO] [1417219704.758929472, 16.965000000]: [HrpsysJointTrajectoryBridge0]  0.436332 -2.42601 -2.74017 0.785398 0 0
  419. [ INFO] [1417219704.758961957, 16.965000000]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 4
  420. [ INFO] [1417219704.759005344, 16.965000000]: [HrpsysJointTrajectoryBridge0]  0.0107861 -0.00274017 -1.74533 -0.265499 0.165824 -0.0556411
  421. [ INFO] [1417219704.759033091, 16.965000000]: [HrpsysJointTrajectoryBridge0] playPatternGroup: larm
  422. [ INFO] [1417219705.430427082, 17.495000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 204[Hz]
  423. [ INFO] [1417219706.431008079, 18.505000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 203[Hz]
  424. [INFO] [WallTime: 1417219706.448423] [18.530000] check 4 collision status, 0.796813 Hz
  425. [ INFO] [1417219707.435708517, 19.515000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  426. [rtmlaunch] check connection/activation
  427. [ INFO] [1417219708.437278484, 20.520000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  428. [ INFO] [1417219708.585276368, 20.765000000]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  429. [ INFO] [1417219709.438741584, 21.535000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  430. [ INFO] [1417219709.665561839, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  431. [ INFO] [1417219709.665702117, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
  432. [ INFO] [1417219709.665737089, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1
  433. [ INFO] [1417219709.665782828, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 1
  434. [ INFO] [1417219709.665837237, 21.899999999]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  435. [ INFO] [1417219709.665882014, 21.899999999]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm
  436. [ INFO] [1417219709.666121314, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  437. [ INFO] [1417219709.666331720, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm)
  438. [ INFO] [1417219709.666414850, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1
  439. [ INFO] [1417219709.666468965, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 1
  440. [ INFO] [1417219709.666508873, 21.899999999]: [HrpsysJointTrajectoryBridge0]  0 -0.698132 -1.5708 0 0 0
  441. [ INFO] [1417219709.666523259, 21.899999999]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm
  442. [ INFO] [1417219709.666930870, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  443. [ INFO] [1417219709.667076750, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
  444. [ INFO] [1417219709.667211230, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 1
  445. [ INFO] [1417219709.667271217, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 1
  446. [ INFO] [1417219709.667332279, 21.899999999]: [HrpsysJointTrajectoryBridge0]  0 0.349066
  447. [ INFO] [1417219709.667383092, 21.899999999]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: head
  448. [ INFO] [1417219709.668141970, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryActionGoal
  449. [ INFO] [1417219709.668311141, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso)
  450. [ INFO] [1417219709.668341637, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1
  451. [ INFO] [1417219709.668376224, 21.899999999]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 1
  452. [ INFO] [1417219709.668401167, 21.899999999]: [HrpsysJointTrajectoryBridge0]  0
  453. [ INFO] [1417219709.668447823, 21.899999999]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso
  454. [ INFO] [1417219710.440737456, 22.539999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  455. [rtmlaunch] Catch signal 'SIGINT', exitting...
  456. rtmlaunch.py: CORBA.BAD_PARAM(omniORB.BAD_PARAM_IndexOutOfRange, CORBA.COMPLETED_NO)
  457. [ INFO] [1417219710.693978663, 22.894999999]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  458. [ INFO] [1417219710.694132832, 22.894999999]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  459. [ INFO] [1417219710.694271124, 22.894999999]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  460. [ INFO] [1417219710.694443737, 22.894999999]: [HrpsysJointTrajectoryBridge0] @proc joint_trajectory_server->setSucceeded()
  461. [rtmlaunch] Catch signal 'SIGINT', exitting...
  462. omniORB: Caught an unexpected Python exception during up-call.
  463. Traceback (most recent call last):
  464.   File "/home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/test/test_hironx_ros_bridge.py", line 348, in <module>
  465.     rostest.rosrun(PKG, 'test_hronx_ros_bridge', TestHiroROSBridge)
  466.   File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/__init__.py", line 140, in rosrun
  467.     result = rosunit.create_xml_runner(package, test_name, result_file).run(suite)
  468.   File "/opt/ros/hydro/lib/python2.7/dist-packages/rosunit/xmlrunner.py", line 233, in run
  469.     test(result)
  470.   File "/usr/lib/python2.7/unittest/suite.py", line 70, in __call__
  471.     return self.run(*args, **kwds)
  472.   File "/usr/lib/python2.7/unittest/suite.py", line 108, in run
  473.     test(result)
  474.   File "/usr/lib/python2.7/unittest/case.py", line 391, in __call__
  475.     return self.run(*args, **kwds)
  476.   File "/usr/lib/python2.7/unittest/case.py", line 327, in run
  477.     testMethod()
  478.   File "/home/rosnoodle/ROS/hydro_precise/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/test/test_hironx_ros_bridge.py", line 194, in test_RArm
  479.     rospy.sleep(1)
  480.   File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/timer.py", line 133, in sleep
  481.     raise rospy.exceptions.ROSInterruptException("ROS shutdown request")
  482. rospy.exceptions.ROSInterruptException: ROS shutdown request
  483. [ INFO] [1417219710.858331930, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
  484. [ INFO] [1417219710.862236964, 23.039999999]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
  485. [ INFO] [1417219710.879046512, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
  486. [ INFO] [1417219710.902135475, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
  487. [ INFO] [1417219710.935393247, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
  488. [ INFO] [1417219710.961025249, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
  489. terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST'
  490. [ INFO] [1417219710.986564205, 23.039999999]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
  491. 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.
  492. testtest_hironx_ros_bridge ... ERROR!
  493. ERROR: test max time allotted
  494.  File "/usr/lib/python2.7/unittest/case.py", line 327, in run
  495.    testMethod()
  496.  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/runner.py", line 146, in fn
  497.    self.test_parent.run_test(test)
  498.  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/rostest_parent.py", line 91, in run_test
  499.    return self.runner.run_test(test)
  500.  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/launch.py", line 669, in run_test
  501.    raise RLTestTimeoutException("test max time allotted")
  502. --------------------------------------------------------------------------------
  503.  
  504. [ROSTEST WARNINGS]--------------------------------------------------------------
  505.  
  506. * unrecognized tag rtconnect
  507. * unrecognized tag rtconnect
  508. * unrecognized tag rtactivate
  509. * unrecognized tag rtactivate
  510. * unrecognized tag rtactivate
  511. * unrecognized tag rtactivate
  512. * unrecognized tag rtconnect
  513. * unrecognized tag rtconnect
  514. * unrecognized tag rtactivate
  515.  
  516. [ROSTEST]-----------------------------------------------------------------------
  517.  
  518.  
  519. SUMMARY
  520. * RESULT: FAIL
  521. * TESTS: 0
  522. * ERRORS: 1
  523. * FAILURES: 0
  524.  
  525. rostest log file is in /home/rosnoodle/.ros/log/rostest-tork-kudu1-vm-precise64-50154.log
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