Setting up warhouse database path for MoveIT!

[Jordan Sorg]

Hi all,

I am new to the ROS/Moveit! world and I am currently having trouble with setting up a planning scene and saving it so that I don't have to keep loading my scene object every time I launch MoveIT!/Rviz. I am following the instructions here but it produces the error on the terminal window and I'm not sure why? The file moveit_db is created in my home directory. This problem with the initial step is preventing me from connecting to the warehouse and saving my scene.

joso21@ubuntu:$ roslaunch iarm_ed_moveit warehouse.launch moveit_warehouse_database_path:=~/moveit_db
... logging to /home/joso21/.ros/log/4a2d1656-11ca-11e4-8e87-000c298bbf45/roslaunch-ubuntu-14812.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:37784/

SUMMARY
========

PARAMETERS
 * /mongo_wrapper_ros_ubuntu_14812_2607172112359632145/database_path
 * /mongo_wrapper_ros_ubuntu_14812_2607172112359632145/overwrite
 * /rosdistro
 * /rosversion
 * /warehouse_exec
 * /warehouse_host
 * /warehouse_port

NODES
  /
    mongo_wrapper_ros_ubuntu_14812_2607172112359632145 (warehouse_ros/mongo_wrapper_ros.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[mongo_wrapper_ros_ubuntu_14812_2607172112359632145-1]: started with pid [14830]
[ERROR] [WallTime: 1406054879.697387] Execution failed: [Errno 2] No such file or directory
[mongo_wrapper_ros_ubuntu_14812_2607172112359632145-1] process has finished cleanly
log file: /home/joso21/.ros/log/4a2d1656-11ca-11e4-8e87-000c298bbf45/mongo_wrapper_ros_ubuntu_14812_2607172112359632145-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Here is the MoveIT! package I created using the setup assistant.

Any and all help is appreciated. 

Thanks,
Jordan

[Jordan Sorg]

In addition, also an issue using this:

roslaunch iarm_ed_moveit default_warehouse_db.launch

the same terminal window output error is produced.

Thanks

[Arjun Menon]

Hey Jordan, 

So your problem here is you 

1) launched the warehouse

2) connected to it by the rviz plugin

3) loaded and saved a scene

And now you're unable to start the warehouse, after having saved the object to it?

Could the warehouse node be crashing because another one is already running? (Check with "rosnode list" if not sure).

[Jordan Sorg]

No, I can't even launch the warehouse.

To start:
roslaunch iarm_ed_moveit demo.launch --->>> My moveit setup assistant generated package

roslaunch iarm_ed_moveit warehouse.launch moveit_warehouse_database_path:=~/moveit_db  ---->>>> the launch file from here

Then the above error in the original post is generated. The empty file 'moveit_db' is created parallel to my 'catkin_ws' folder but it says "No such file or directory".

So I can't connect to the warehouse to attempt to save my scene setup.

Any thoughts?

[Arjun Menon]

Could you run the warehouse node with gdb and show me the backtrace?

Instructions for launching a node with GDB are here: 

http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

If you're not sure, you want to edit your iarm_ed_moveit warehouse.launch file and add "launch-prefix="xterm -e gdb --args" right after the pkg="warehouse_ros"

After you try launching again, just type bt or backtrace and hit enter and send all of that over.

[Jordan Sorg]

Hey, Arjun. Thanks for your time.

I added the debugging launch prefix to the warehouse.launch file and tried to launch again but it crashes immediately before I can type bt or backtrace into the terminal. I am a little confused on the procedure, Do I open a new terminal and type backtrace or do I need to specify an argument of 'yes' or 'true' or something at the end of the roslaunch line?

This is my modified warehouse.launch file:

<launch>
 
  <!-- The path to the database must be specified -->
  <arg name="moveit_warehouse_database_path" />

  <!-- Load warehouse parameters --> 
  <include file="$(find iarm_ed_moveit)/launch/warehouse_settings.launch.xml" />

  <!-- Run the DB server -->
  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros" launch-prefix="xterm -e gdb --args">
    <param name="overwrite" value="false"/>
    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
  </node>

</launch>

And here is the ensuing output:

 joso21@ubuntu:~$ roslaunch iarm_ed_moveit warehouse.launch moveit_warehouse_database_path:=~/moveit_db
... logging to /home/joso21/.ros/log/3bbae4f4-1760-11e4-9cd6-000c298bbf45/roslaunch-ubuntu-9455.log

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:56205/

SUMMARY
========

PARAMETERS
 * /mongo_wrapper_ros_ubuntu_9455_511913382564280857/database_path
 * /mongo_wrapper_ros_ubuntu_9455_511913382564280857/overwrite

 * /rosdistro
 * /rosversion
 * /warehouse_exec
 * /warehouse_host
 * /warehouse_port

NODES
  /

    mongo_wrapper_ros_ubuntu_9455_511913382564280857 (warehouse_ros/mongo_wrapper_ros.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found

process[mongo_wrapper_ros_ubuntu_9455_511913382564280857-1]: started with pid [9473]
bac[ERROR] [WallTime: 1406666918.068693] Execution failed: [Errno 2] No such file or directory
k[mongo_wrapper_ros_ubuntu_9455_511913382564280857-1] process has finished cleanly
log file: /home/joso21/.ros/log/3bbae4f4-1760-11e4-9cd6-000c298bbf45/mongo_wrapper_ros_ubuntu_9455_511913382564280857-1*.log

all processes on machine have died, roslaunch will exit

tshutting down processing monitor...

... shutting down processing monitor complete
done

I apologize but I am still very new to this. Thanks again.

Jordan

[Jordan Sorg]

Apologies I got it now. I couldn't copy text from the output window so I took  a screenshot. It looks like something isn't executable??

[Arjun Menon]

Cool, alternatively this instead launch-prefix="gdb -ex run --args" works with gnome terminal when trying to launch gdb with the node.

You should type bt when you're confronted by the prompt, (gdb)

That is to say after the node has crashed.

Before we try something more, what distro are you working in, and did you get install from apt or from source?

[Jordan Sorg]

Ok, ROS hydro installed from apt.

After typing bt into the gdb command window it replies with No Stack.

I did try changing the file to an executable using:

sudo chmod +x mongo_wrapper_ros.py

but it didn't seem to take after removing the debug prefix and launching the file again.

[Arjun Menon]

Oh it was a rospy node. GDB's not what we want here.

We can try working off of the latest working version of the warehouse that's hosted on the github. Check out the warehouse_ros package to your catkin_ws/src folder and build it.

cd ~/catkin_ws/src

git clone https://github.com/ros-planning/warehouse_ros

cd ~/catkin_ws

catkin_make

Then try launching the warehouse again. Verify that "roscd warehouse_ros" takes you to the folder you just built.

If that still doesn't work we might need to dig deeper.

[Jordan Sorg]

Arjun,

I cloned the warehouse_ros package to the file path ~/catkin_ws/src as stated in your instructions but it would seem no luck.

I launched my moveit package and it opens, then I launch the warehouse.launch file (with the debug prefix removed) and the same error is produced in the terminal window and it crashes. I then replace the debug prefix, relaunch, and again the same debug message about the .py script is produced.

The strange thing is that the package is built in my catkin_ws but when I roscd warhouse_ros it takes me to /opt/ros/hydro/share/warehouse_ros file path

[Jordan Sorg]

Actually a slightly different output at the terminal window is produced. The last line has changed to this:

joso21@ubuntu:~/catkin_ws/src/warehouse_ros$ roslaunch iarm_ed_moveit warehouse.launch moveit_warehouse_database_path:=~/moveit_db
... logging to /home/joso21/.ros/log/5fd53412-1809-11e4-9ae9-000c298bbf45/roslaunch-ubuntu-13689.log

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:39679/

SUMMARY
========

PARAMETERS
 * /mongo_wrapper_ros_ubuntu_13689_7164020999994839192/database_path
 * /mongo_wrapper_ros_ubuntu_13689_7164020999994839192/overwrite

 * /rosdistro
 * /rosversion
 * /warehouse_exec
 * /warehouse_host
 * /warehouse_port

NODES
  /

    mongo_wrapper_ros_ubuntu_13689_7164020999994839192 (warehouse_ros/mongo_wrapper_ros.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found

process[mongo_wrapper_ros_ubuntu_13689_7164020999994839192-1]: started with pid [13707]
[ERROR] [WallTime: 1406739898.743577] Execution failed: [Errno 2] No such file or directory
[mongo_wrapper_ros_ubuntu_13689_7164020999994839192-1] process has finished cleanly
log file: /home/joso21/.ros/log/5fd53412-1809-11e4-9ae9-000c298bbf45/mongo_wrapper_ros_ubuntu_13689_7164020999994839192-1*.log

all processes on machine have died, roslaunch will exit

shutting down processing monitor...
... shutting down processing monitor complete
done

Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr

[Arjun Menon]

Hey Jordan, sorry for the late response.

So I'm assuming you set up your catkin workspace like in this tutorial here: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

Just to be sure can you send the output of "echo $ROS_PACKAGE_PATH" ? It definitely should not be the case that you get sent to the /opt folder when you do roscd warehouse_ros.

Also did you remember to catkin_make after you checked out the package? Not sure if I left that but out.

[Scott Paulin]

Hi Arjun,

I recently encountered a similar problem with the 'Execution failed: [Errno 2] No such file or directory' error message when starting the warehouse:

$roslaunch ur5_moveit_config default_warehouse_db.launch

Looking through the source in the docs I thought the error was comming from line 109 of mongo_wrapper_ros.py (link at bottom)  because I didn't have mongodb installed.
After installing mongodb I was able to add scenes and queries to the warehouse via rviz.

I now have problems when trying to benchmark motion planners.

$ roslaunch ur5_moveit_config run_benchmark_ompl.launch cfg:=/home/scott/Desktop/bare.cfg

results in the following error:
[ERROR] [1406942303.853734360]: Scene 'no_obstacles' not found in warehouse. Available names:
where no available names are supplied.

When I start rviz and connect to the warehouse I can see my 'no_obstacles' scene but get the following error:

terminal 1:
$ roslaunch ur5_moveit_config default_warehouse_db.launch

terminal 2:
roslaunch ur5_moveit_config demo.launch

[ERROR] [WallTime: 1406943782.863818] Mongo process exited with error code 100

I tried downloading the package to my catkin_ws/src folder and running catkin_make as you suggested to Jordan. As with Jordans case $roscd warehoue_ros takes me to a folder under /opt/ros. echo $ROS_PACKAGE_PATH gives me the path to my catkin_ws/src as well as /opt/ros/indigo/share and /opt/ros/indigo/stacks.

I am using indigo on Ubuntu 14.04.

Thanks in advance for any help!

Regards,

Scott.



source: http://docs.ros.org/hydro/api/warehouse_ros/html/mongo__wrapper__ros_8py_source.html