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rtmlaunch_id267_20131125

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Nov 24th, 2013
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  1. $ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
  2. [rtmlaunch] Start omniNames at port 15005
  3.  
  4. Mon Nov 25 14:45:29 2013:
  5.  
  6. Starting omniNames for the first time.
  7. Wrote initial log file.
  8. Read log file successfully.
  9. Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e34332e3800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000f9e3925201003d22
  10. Checkpointing Phase 1: Prepare.
  11. Checkpointing Phase 2: Commit.
  12. Checkpointing completed.
  13. WARNING: Package name "HRP2JSK_moveit_config" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
  14. WARNING: Package name "SampleRobot_moveit_config" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
  15. ... logging to /home/nrosuser/.ros/log/cb5b0eec-5594-11e3-b8fe-88532e0fe6e6/roslaunch-rosuser-serval-15647.log
  16. Checking log directory for disk usage. This may take awhile.
  17. Press Ctrl-C to interrupt
  18. Done checking log file disk usage. Usage is <1GB.
  19.  
  20. SUMMARY
  21. ========
  22.  
  23. PARAMETERS
  24. * /controller_configuration
  25. * /diagnostic_aggregator/analyzers/computers/contains
  26. * /diagnostic_aggregator/analyzers/computers/path
  27. * /diagnostic_aggregator/analyzers/computers/type
  28. * /diagnostic_aggregator/analyzers/hrpsys/contains
  29. * /diagnostic_aggregator/analyzers/hrpsys/path
  30. * /diagnostic_aggregator/analyzers/hrpsys/type
  31. * /diagnostic_aggregator/analyzers/mode/contains
  32. * /diagnostic_aggregator/analyzers/mode/path
  33. * /diagnostic_aggregator/analyzers/mode/type
  34. * /diagnostic_aggregator/analyzers/motor/contains
  35. * /diagnostic_aggregator/analyzers/motor/path
  36. * /diagnostic_aggregator/analyzers/motor/type
  37. * /diagnostic_aggregator/base_path
  38. * /diagnostic_aggregator/pub_rate
  39. * /robot_description
  40. * /rosdistro
  41. * /rosversion
  42. * /use_sim_time
  43.  
  44. NODES
  45. /
  46. DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
  47. ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
  48. HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
  49. HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
  50. SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
  51. StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
  52. diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
  53. hrpsys (hrpsys/hrpsys-simulator)
  54. hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
  55. hrpsys_py (hironx_ros_bridge/hironx.py)
  56. hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
  57. hrpsys_state_publisher (robot_state_publisher/state_publisher)
  58. modelloader (openhrp3/openhrp-model-loader)
  59. rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
  60. sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
  61.  
  62. WARNING: unrecognized tag rtconnect
  63. WARNING: unrecognized tag rtconnect
  64. :
  65. WARNING: unrecognized tag rtconnect
  66. WARNING: unrecognized tag rtconnect
  67. WARNING: unrecognized tag rtactivate
  68. WARNING: unrecognized tag rtactivate
  69. :
  70. WARNING: unrecognized tag rtactivate
  71. WARNING: unrecognized tag rtactivate
  72. auto-starting new master
  73. process[master]: started with pid [15663]
  74. ROS_MASTER_URI=http://localhost:11311
  75.  
  76. setting /run_id to cb5b0eec-5594-11e3-b8fe-88532e0fe6e6
  77. process[rosout-1]: started with pid [15676]
  78. started core service [/rosout]
  79. process[modelloader-2]: started with pid [15688]
  80. ready
  81. loading file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  82. process[HrpsysSeqStateROSBridge-5]: started with pid [15712]
  83. configuration ORB with localhost : 15005
  84. [hrpsys.py] waiting ModelLoader
  85. [hrpsys.py] start hrpsys
  86. [hrpsys.py] finding RTCManager and RobotHardware
  87. Collada Warning: fill asset info
  88. Collada Warning: generate normals from vertices
  89. Collada Warning: generate normals from vertices
  90. :
  91. Collada Warning: generate normals from vertices
  92. Collada Warning: generate normals from vertices
  93. The model was successfully loaded !
  94. process[HrpsysJointTrajectoryBridge-6]: started with pid [15743]
  95. loading file:///home/rosuser/ROS/groovy_precise/catkinws/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
  96. Humanoid node
  97. Joint nodeWAIST
  98. Segment node BODY
  99. The model was successfully loaded !
  100. loading /home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  101. Collada Warning: fill asset info
  102. Collada Warning: generate normals from vertices
  103. Collada Warning: generate normals from vertices
  104. :
  105. Collada Warning: generate normals from vertices
  106. Collada Warning: generate normals from vertices
  107. :
  108. Collada Warning: generate normals from vertices
  109. Collada Warning: generate normals from vertices
  110. process[hrpsys_state_publisher-7]: started with pid [15767]
  111. The model was successfully loaded !
  112. cache found for /home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  113. [ WARN] [1385358337.685811202]: [HrpsysSeqStateROSBridge] use_hrpsys_time
  114. Warning: Model HiroNX has empty joint ID in the valid IDs.
  115. [ INFO] [1385358337.686742575]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
  116. [ INFO] [1385358337.703143315]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
  117. cache found for /home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  118. Warning: Model HiroNX has empty joint ID in the valid IDs.
  119. cache found for /home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  120. Warning: Model HiroNX has empty joint ID in the valid IDs.
  121. [ INFO] [1385358337.714777837]: [HrpsysSeqStateROSBridge] Loaded HiroNX
  122. [ INFO] [1385358337.714961723]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
  123. process[hrpsys_ros_diagnostics-8]: started with pid [15802]
  124. process[hrpsys_profile-9]: started with pid [15805]
  125. [hrpsys.py] wait for RTCmanager : None
  126. process[diagnostic_aggregator-10]: started with pid [15838]
  127. process[sensor_ros_bridge_connect-11]: started with pid [15909]
  128. [sensor_ros_bridge_connect.py] start
  129. configuration ORB with localhost : 15005
  130. process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [15934]
  131. [rtmlaunch] starting... /home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
  132. [rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
  133. [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
  134. [rtmlaunch] check connection/activation
  135. process[SequencePlayerServiceROSBridge-13]: started with pid [15949]
  136. [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
  137. [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle
  138. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  139. [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x28da0e0> (timeout 0 < 10)
  140. [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x28da0e0>
  141. [hrpsys.py] simulation_mode : True
  142. [hrpsys.py] bodyinfo URL = file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  143. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  144. [hrpsys.py] creating components
  145. [hrpsys.py] eval : [self.seq, self.seq_svc] = self.createComp("SequencePlayer","seq")
  146. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  147. Warning: Model HiroNX has empty joint ID in the valid IDs.
  148. [hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x28ec0e0>
  149. [hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x294b3b0>
  150. [hrpsys.py] eval : [self.sh, self.sh_svc] = self.createComp("StateHolder","sh")
  151. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  152. [hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x2950290>
  153. [hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x294aab8>
  154. [hrpsys.py] eval : [self.fk, self.fk_svc] = self.createComp("ForwardKinematics","fk")
  155. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  156. Warning: Model HiroNX has empty joint ID in the valid IDs.
  157. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  158. Warning: Model HiroNX has empty joint ID in the valid IDs.
  159. [hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x2950680>
  160. [hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x294ab90>
  161. [hrpsys.py] eval : [self.el, self.el_svc] = self.createComp("SoftErrorLimiter","el")
  162. ;;
  163. ;; Could not open /dev/console for writing.
  164. ;;
  165. open: Permission denied
  166. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  167. Warning: Model HiroNX has empty joint ID in the valid IDs.
  168. [hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x2954710>
  169. [hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x294aa70>
  170. [hrpsys.py] eval : [self.sc, self.sc_svc] = self.createComp("ServoController","sc")
  171. [WARNING] sc: needs servo.devname property
  172. [WARNING] sc: running in dummy mode
  173. [hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x29555f0>
  174. [hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x294b3f8>
  175. [hrpsys.py] eval : [self.log, self.log_svc] = self.createComp("DataLogger","log")
  176. [hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x2955128>
  177. [hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x294b050>
  178. [hrpsys.py] connecting components
  179. [rtm.py] Connect sh.qOut - el.qRef
  180. [rtm.py] Connect el.q - HGcontroller0.qIn
  181. [rtm.py] Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef
  182. [rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:tau
  183. [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:rstorque
  184. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  185. [rtm.py] Connect HiroNX(Robot)0.q - sh.currentQIn
  186. [rtm.py] Connect HiroNX(Robot)0.q - fk.q
  187. [rtm.py] Connect sh.qOut - fk.qRef
  188. [rtm.py] Connect seq.qRef - sh.qIn
  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 sh.basePosOut - seq.basePosInit
  193. [rtm.py] Connect sh.basePosOut - fk.basePosRef
  194. [rtm.py] Connect sh.baseRpyOut - seq.baseRpyInit
  195. [rtm.py] Connect sh.baseRpyOut - fk.baseRpyRef
  196. [rtm.py] Connect sh.qOut - seq.qInit
  197. [rtm.py] Connect HiroNX(Robot)0.q - el.qCurrent
  198. [hrpsys.py] activating components
  199. process[DataLoggerServiceROSBridge-14]: started with pid [16029]
  200. [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = q
  201. [rtm.py] Connect HiroNX(Robot)0.q - log.q
  202. [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = tau
  203. [rtm.py] Connect HiroNX(Robot)0.tau - log.tau
  204. [hrpsys.py] sensor names for DataLogger
  205. [rtmlaunch] Wait for /localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService 0 /30
  206. [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qRef
  207. [rtm.py] Connect seq.qRef - log.qRef
  208. [hrpsys.py] setupLogger : type = TimedDoubleSeq , name = qOut
  209. [rtm.py] Connect sh.qOut - log.qOut
  210. [hrpsys.py] setupLogger : type = TimedPoint3D , name = basePosOut
  211. [rtm.py] Connect sh.basePosOut - log.basePosOut
  212. [hrpsys.py] setupLogger : type = TimedOrientation3D , name = baseRpyOut
  213. [rtm.py] Connect sh.baseRpyOut - log.baseRpyOut
  214. [hrpsys.py] setup logger done
  215. [hrpsys.py] initialized successfully
  216. process[ForwardKinematicsServiceROSBridge-15]: started with pid [16060]
  217. [hrpsys_py-4] process has finished cleanly
  218. log file: /home/nrosuser/.ros/log/cb5b0eec-5594-11e3-b8fe-88532e0fe6e6/hrpsys_py-4*.log
  219. process[StateHolderServiceROSBridge-16]: started with pid [16085]
  220. [sensor_ros_bridge_connect.py] wait for RTCmanager : rosuser-serval
  221. [rtmlaunch] Wait for /localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService 1 /30
  222. [sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x2888cf8> (timeout 0 < 10)
  223. [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x2888cf8>
  224. [sensor_ros_bridge_connect.py] simulation_mode : True
  225. [rtmlaunch] Connected from localhost:15005/StateHolderServiceROSBridge.rtc:StateHolderService
  226. [rtmlaunch] to localhost:15005/sh.rtc:StateHolderService
  227. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  228. [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x28a5ea8>
  229. [sensor_ros_bridge_connect.py] bodyinfo URL = file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  230. cache found for file:///home/rosuser/ROS/groovy_precise/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/models/kawada-hironx.dae
  231. [sensor_ros_bridge_connect-11] process has finished cleanly
  232. log file: /home/nrosuser/.ros/log/cb5b0eec-5594-11e3-b8fe-88532e0fe6e6/sensor_ros_bridge_connect-11*.log
  233. [rtmlaunch] Connected from localhost:15005/sh.rtc:baseTformOut
  234. [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:baseTform
  235. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  236. [rtmlaunch] Connected from localhost:15005/sh.rtc:qOut
  237. [rtmlaunch] to localhost:15005/HrpsysSeqStateROSBridge0.rtc:mcangle
  238. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  239. [rtmlaunch] Connected from localhost:15005/HrpsysSeqStateROSBridge0.rtc:SequencePlayerService
  240. [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService
  241. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  242. [rtmlaunch] Connected from localhost:15005/HrpsysJointTrajectoryBridge0.rtc:SequencePlayerService
  243. [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService
  244. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  245. [rtmlaunch] Connected from localhost:15005/DataLoggerServiceROSBridge.rtc:DataLoggerService
  246. [rtmlaunch] to localhost:15005/log.rtc:DataLoggerService
  247. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  248. [rtmlaunch] Connected from localhost:15005/SequencePlayerServiceROSBridge.rtc:SequencePlayerService
  249. [rtmlaunch] to localhost:15005/seq.rtc:SequencePlayerService
  250. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  251. [rtmlaunch] Connected from localhost:15005/ForwardKinematicsServiceROSBridge.rtc:ForwardKinematicsService
  252. [rtmlaunch] to localhost:15005/fk.rtc:ForwardKinematicsService
  253. [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
  254. [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysSeqStateROSBridge0.rtc
  255. [ INFO] [1385358343.793942104, 6.344999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 0[Hz]
  256. [rtmlaunch] Activate <- Inactive /localhost:15005/HrpsysJointTrajectoryBridge0.rtc
  257. [ INFO] [1385358343.890716815, 6.474999999]: ADD_GROUP: larm (/larm_controller)
  258. [ INFO] [1385358343.890765379, 6.474999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
  259. [addJointGroup] group name LARM is already installed
  260. [ INFO] [1385358343.912134083, 6.494999999]: ADD_GROUP: rarm (/rarm_controller)
  261. [ INFO] [1385358343.912176957, 6.494999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
  262. [addJointGroup] group name RARM is already installed
  263. [ INFO] [1385358343.930793818, 6.514999999]: ADD_GROUP: head (/head_controller)
  264. [ INFO] [1385358343.930837263, 6.514999999]: JOINT: HEAD_JOINT0 HEAD_JOINT1
  265. [addJointGroup] group name HEAD is already installed
  266. [ INFO] [1385358343.945605969, 6.529999999]: ADD_GROUP: torso (/torso_controller)
  267. [ INFO] [1385358343.945650630, 6.529999999]: JOINT: CHEST_JOINT0
  268. [addJointGroup] group name TORSO is already installed
  269. [ INFO] [1385358343.959190358, 6.539999999]: ADD_GROUP: larm_torso (/larm_torso_controller)
  270. [ INFO] [1385358343.959241036, 6.539999999]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
  271. [ INFO] [1385358343.980607781, 6.564999999]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
  272. [ INFO] [1385358343.980665853, 6.564999999]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
  273. [rtmlaunch] Activate <- Inactive /localhost:15005/DataLoggerServiceROSBridge.rtc
  274. [rtmlaunch] Activate <- Inactive /localhost:15005/SequencePlayerServiceROSBridge.rtc
  275. [rtmlaunch] Activate <- Inactive /localhost:15005/ForwardKinematicsServiceROSBridge.rtc
  276. [rtmlaunch] Activate <- Inactive /localhost:15005/StateHolderServiceROSBridge.rtc
  277. [ INFO] [1385358344.799112278, 7.389999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 209[Hz]
  278. [ INFO] [1385358345.800359664, 8.389999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  279. [ INFO] [1385358346.801326738, 9.400000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  280. [ INFO] [1385358347.804000980, 10.405000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  281. [ INFO] [1385358348.806336160, 11.410000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  282. [ INFO] [1385358349.808150833, 12.415000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  283. [ INFO] [1385358350.811831694, 13.420000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  284. [ INFO] [1385358351.812738807, 14.425000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  285. [ INFO] [1385358352.816272068, 15.430000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  286. [ INFO] [1385358353.820560121, 16.440000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  287. [rtmlaunch] check connection/activation
  288. [ INFO] [1385358354.823012005, 17.445000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  289. [ INFO] [1385358355.826520623, 18.450000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  290. [ INFO] [1385358356.828270724, 19.455000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  291. [ INFO] [1385358357.835157676, 20.460000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  292. [ INFO] [1385358358.839443106, 21.470000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  293. [ INFO] [1385358359.840870289, 22.474999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  294. [ INFO] [1385358360.845045584, 23.479999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  295. [ INFO] [1385358361.846598449, 24.484999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  296. [ INFO] [1385358362.855475614, 25.494999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  297. [ INFO] [1385358363.862978202, 26.504999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  298. [ INFO] [1385358364.865242000, 27.514999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  299. [ INFO] [1385358365.868220789, 28.519999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  300. [ INFO] [1385358366.870915387, 29.524999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  301. [ INFO] [1385358367.874360224, 30.524999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  302. [addJointGroup] group name TORSO is already installed
  303. [addJointGroup] group name HEAD is already installed
  304. [addJointGroup] group name RARM is already installed
  305. [addJointGroup] group name LARM is already installed
  306. [rtmlaunch] check connection/activation
  307. [ INFO] [1385358368.879781744, 31.529999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  308. [ INFO] [1385358369.883113182, 32.534999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  309. [ INFO] [1385358370.893706437, 33.544999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  310. [ INFO] [1385358371.895383482, 34.549999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  311. [ INFO] [1385358372.904661593, 35.564999999]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  312. [ INFO] [1385358373.906747287, 36.575000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  313. [ INFO] [1385358374.914572460, 37.580000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  314. [ INFO] [1385358375.930181347, 38.590000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  315. [ INFO] [1385358376.935396556, 39.595000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  316. [ INFO] [1385358377.941472489, 40.605000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
  317. [ INFO] [1385358378.950025255, 41.610000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  318. [ INFO] [1385358379.952840549, 42.615000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 201[Hz]
  319. [ INFO] [1385358380.960055873, 43.625000000]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is working at 202[Hz]
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