ais@yodo:~$ roslaunch hiro.launch ... logging to /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/roslaunch-yodo-8167.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://yodo:49685/ SUMMARY ======== PARAMETERS * /collision_state/comp_name * /controller_configuration * /diagnostic_aggregator/analyzers/computers/contains * /diagnostic_aggregator/analyzers/computers/path * /diagnostic_aggregator/analyzers/computers/type * /diagnostic_aggregator/analyzers/hrpsys/contains * /diagnostic_aggregator/analyzers/hrpsys/path * /diagnostic_aggregator/analyzers/hrpsys/type * /diagnostic_aggregator/analyzers/mode/contains * /diagnostic_aggregator/analyzers/mode/path * /diagnostic_aggregator/analyzers/mode/type * /diagnostic_aggregator/analyzers/motor/contains * /diagnostic_aggregator/analyzers/motor/path * /diagnostic_aggregator/analyzers/motor/type * /diagnostic_aggregator/base_path * /diagnostic_aggregator/pub_rate * /robot_description * /robot_pose_ekf/debug * /robot_pose_ekf/freq * /robot_pose_ekf/imu_used * /robot_pose_ekf/odom_used * /robot_pose_ekf/output_frame * /robot_pose_ekf/self_diagnose * /robot_pose_ekf/sensor_timeout * /robot_pose_ekf/vo_used * /rosdistro * /rosversion NODES / CollisionDetectorComp (hrpsys/CollisionDetectorComp) DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp) ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp) HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge) HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp) base_footprint_rootlink (tf/static_transform_publisher) collision_state (hrpsys_ros_bridge/collision_state.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) hironx_py (hironx_ros_bridge/hironx.py) hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py) hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py) hrpsys_state_publisher (robot_state_publisher/state_publisher) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py) rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py) sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py) WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[hironx_py-1]: started with pid [8185] process[HrpsysSeqStateROSBridge-2]: started with pid [8186] process[HrpsysJointTrajectoryBridge-3]: started with pid [8208] process[hrpsys_state_publisher-4]: started with pid [8221] process[hrpsys_ros_diagnostics-5]: started with pid [8236] process[diagnostic_aggregator-6]: started with pid [8239] process[hrpsys_profile-7]: started with pid [8259] process[sensor_ros_bridge_connect-8]: started with pid [8284] process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [8319] [ERROR] Connection Failed with the Nameserver (hostname=hiro023 port=2809). Make sure the hostname is correct and the Nameserver is running. CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) process[SequencePlayerServiceROSBridge-10]: started with pid [8328] [sensor_ros_bridge_connect.py] start configuration ORB with hiro023 : 2809 process[DataLoggerServiceROSBridge-11]: started with pid [8379] [ERROR] Connection Failed with the Nameserver (hostname=hiro023 port=2809). Make sure the hostname is correct and the Nameserver is running. CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) process[ForwardKinematicsServiceROSBridge-12]: started with pid [8411] [ INFO] [1421850194.334249997]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 [hrpsys_profile-7] process has died [pid 8259, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/hrpsys_profile.py -ORBInitRef NameService=corbaloc:iiop:hiro023:2809/NameService __name:=hrpsys_profile __log:=/home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/hrpsys_profile-7.log]. log file: /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/hrpsys_profile-7*.log [sensor_ros_bridge_connect-8] process has died [pid 8284, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py /opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae RobotHardware0 HrpsysSeqStateROSBridge0 hiro023 -ORBInitRef NameService=corbaloc:iiop:hiro023:2809/NameService __name:=sensor_ros_bridge_connect __log:=/home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/sensor_ros_bridge_connect-8.log]. log file: /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/sensor_ros_bridge_connect-8*.log process[StateHolderServiceROSBridge-13]: started with pid [8447] process[robot_pose_ekf-14]: started with pid [8465] [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS hiro023:2809 hiro023:2809 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/HrpsysSeqStateROSBridge0.rtc ) : Invalid CORBA naming service: hiro023:2809 process[base_footprint_rootlink-15]: started with pid [8513] process[CollisionDetectorComp-16]: started with pid [8524] process[rtmlaunch_collision_detector-17]: started with pid [8525] process[collision_state-18]: started with pid [8526] [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS hiro023:2809 hiro023:2809 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/CollisionDetector0.rtc:qCurrent ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/CollisionDetector0.rtc ) : Invalid CORBA naming service: hiro023:2809 configuration ORB with hiro023 : 2809 [ERROR] Connection Failed with the Nameserver (hostname=hiro023 port=2809). Make sure the hostname is correct and the Nameserver is running. CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO) [collision_state-18] process has died [pid 8526, exit code 1, cmd /opt/ros/hydro/share/hrpsys_ros_bridge/scripts/collision_state.py /opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae -ORBInitRef NameService=corbaloc:iiop:hiro023:2809/NameService __name:=collision_state __log:=/home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/collision_state-18.log]. log file: /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/collision_state-18*.log [HrpsysSeqStateROSBridge-2] process has died [pid 8186, exit code -11, cmd /opt/ros/hydro/lib/hrpsys_ros_bridge/HrpsysSeqStateROSBridge -o corba.nameservers:hiro023:2809 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae __name:=HrpsysSeqStateROSBridge __log:=/home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/HrpsysSeqStateROSBridge-2.log]. log file: /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/HrpsysSeqStateROSBridge-2*.log [HrpsysJointTrajectoryBridge-3] process has died [pid 8208, exit code -11, cmd /opt/ros/hydro/lib/hrpsys_ros_bridge/HrpsysJointTrajectoryBridge -o corba.nameservers:hiro023:2809 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/opt/ros/hydro/share/hironx_ros_bridge/models/kawada-hironx.dae __name:=HrpsysJointTrajectoryBridge __log:=/home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/HrpsysJointTrajectoryBridge-3.log]. log file: /home/ais/.ros/log/fa2c1b82-a172-11e4-82b4-00259093db68/HrpsysJointTrajectoryBridge-3*.log [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/HrpsysSeqStateROSBridge0.rtc ) : Invalid CORBA naming service: hiro023:2809 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/CollisionDetector0.rtc:qCurrent ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/CollisionDetector0.rtc ) : Invalid CORBA naming service: hiro023:2809 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/HrpsysSeqStateROSBridge0.rtc ) : Invalid CORBA naming service: hiro023:2809 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/CollisionDetector0.rtc:qCurrent ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/CollisionDetector0.rtc ) : Invalid CORBA naming service: hiro023:2809 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/HrpsysSeqStateROSBridge0.rtc ) : Invalid CORBA naming service: hiro023:2809 [rtmlaunch] check connection/activation [rtmlaunch] [ERROR] Could not Connect ( /hiro023:2809/RobotHardware0.rtc:q , /hiro023:2809/CollisionDetector0.rtc:qCurrent ): Invalid CORBA naming service: hiro023:2809 [rtmlaunch] Could not Activate ( hiro023:2809/CollisionDetector0.rtc ) : Invalid CORBA naming service: hiro023:2809