ais@yodo:~$ roslaunch hironx_ros_bridge hironx_ros_bridge_real.launch nameserver:=hiro023 ... logging to /home/ais/.ros/log/100558c6-208d-11e5-bc17-00259093db68/roslaunch-yodo-14832.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:56972/ 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) RobotHardwareServiceROSBridge (hrpsys_ros_bridge/RobotHardwareServiceROSBridgeComp) SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp) ServoControllerServiceROSBridge (hrpsys_ros_bridge/ServoControllerServiceROSBridgeComp) 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) 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 WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtconnect WARNING: unrecognized tag rtactivate auto-starting new master process[master]: started with pid [14846] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 100558c6-208d-11e5-bc17-00259093db68 process[rosout-1]: started with pid [14859] started core service [/rosout] process[HrpsysSeqStateROSBridge-2]: started with pid [14871] process[HrpsysJointTrajectoryBridge-3]: started with pid [14892] process[hrpsys_state_publisher-4]: started with pid [14914] process[hrpsys_ros_diagnostics-5]: started with pid [14926] duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L) [ INFO] [1435822594.571968698]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done process[diagnostic_aggregator-6]: started with pid [14930] process[hrpsys_profile-7]: started with pid [14948] process[sensor_ros_bridge_connect-8]: started with pid [14963] process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [15005] process[SequencePlayerServiceROSBridge-10]: started with pid [15012] process[DataLoggerServiceROSBridge-11]: started with pid [15069] [sensor_ros_bridge_connect.py] start configuration ORB with hiro023 : 15005 process[ForwardKinematicsServiceROSBridge-12]: started with pid [15103] process[StateHolderServiceROSBridge-13]: started with pid [15143] [ INFO] [1435822594.964206229]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 process[RobotHardwareServiceROSBridge-14]: started with pid [15175] [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch [rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_R) duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_L) [ INFO] [1435822595.055208223]: [HrpsysSeqStateROSBridge] Loaded main_nohHands [ INFO] [1435822595.057537354]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done process[ServoControllerServiceROSBridge-15]: started with pid [15206] process[robot_pose_ekf-16]: started with pid [15255] [rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q [rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rsangle [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} process[base_footprint_rootlink-17]: started with pid [15304] process[CollisionDetectorComp-18]: started with pid [15330] process[rtmlaunch_collision_detector-19]: started with pid [15335] [rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:tau [rtmlaunch] to hiro023:15005/HrpsysSeqStateROSBridge0.rtc:rstorque [rtmlaunch] with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False} process[collision_state-20]: started with pid [15342] [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 0 /30 [rtmlaunch] starting... /opt/ros/hydro/share/hrpsys_ros_bridge/launch/collision_detector.launch [rtmlaunch] RTCTREE_NAMESERVERS hiro023:15005 hiro023:15005 [rtmlaunch] SIMULATOR_NAME RobotHardware0 [rtmlaunch] check connection/activation [rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q [rtmlaunch] to hiro023:15005/CollisionDetector0.rtc:qCurrent [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [sensor_ros_bridge_connect.py] wait for RTCmanager : hiro023 configuration ORB with hiro023 : 15005 [INFO] [WallTime: 1435822595.956374] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [ERROR] [WallTime: 1435822595.971794] [collision_state.py] catch exception, restart rtc_init. Make sure collision_pair is set in .conf file. See https://github.com/start-jsk/rtmros_common/issues/247 Original exception: CORBA.OBJECT_NOT_EXIST(omniORB.OBJECT_NOT_EXIST_NoMatch, CORBA.COMPLETED_NO) [rtmlaunch] Connected from hiro023:15005/RobotHardware0.rtc:q [rtmlaunch] to hiro023:15005/CollisionDetector0.rtc:qRef [rtmlaunch] with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False} [rtmlaunch] Activate <- Inactive /hiro023:15005/CollisionDetector0.rtc prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 check collisions between RARM_JOINT2 and LARM_JOINT2 check collisions between RARM_JOINT3 and LARM_JOINT3 check collisions between RARM_JOINT4 and LARM_JOINT4 check collisions between RARM_JOINT5 and LARM_JOINT5 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 1 /30 [sensor_ros_bridge_connect.py] wait for RobotHardware0 : (timeout 0 < 10) [sensor_ros_bridge_connect.py] findComps -> RobotHardware : isActive? = False [sensor_ros_bridge_connect.py] simulation_mode : False [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 2 /30 [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl configuration ORB with hiro023 : 15005 [INFO] [WallTime: 1435822597.987438] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl [sensor_ros_bridge_connect-8] process has finished cleanly log file: /home/ais/.ros/log/100558c6-208d-11e5-bc17-00259093db68/sensor_ros_bridge_connect-8*.log [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 3 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 4 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 5 /30 [INFO] [WallTime: 1435822600.982012] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 6 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 7 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 8 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 9 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 10 /30 [INFO] [WallTime: 1435822606.002042] check 0 collision status, 0.000000 Hz [rtmlaunch] check connection/activation [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 11 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 12 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 13 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 14 /30 [INFO] [WallTime: 1435822611.002005] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 15 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 16 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 17 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 18 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 19 /30 [INFO] [WallTime: 1435822616.021968] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 20 /30 [rtmlaunch] check connection/activation [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 21 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 22 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 23 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 24 /30 [INFO] [WallTime: 1435822621.021896] check 0 collision status, 0.000000 Hz [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 25 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 26 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 27 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 28 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 29 /30 [INFO] [WallTime: 1435822626.021978] check 0 collision status, 0.000000 Hz [rtmlaunch] [ERROR] Could not Connect ( /hiro023:15005/StateHolderServiceROSBridge.rtc:StateHolderService , /hiro023:15005/sh.rtc:StateHolderService ): No such object: /hiro023:15005/sh.rtc:StateHolderService [rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysSeqStateROSBridge0.rtc [ WARN] [1435822626.889506225]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [rtmlaunch] Activate <- Inactive /hiro023:15005/HrpsysJointTrajectoryBridge0.rtc [ INFO] [1435822626.951235920]: ADD_GROUP: larm (/larm_controller) [ INFO] [1435822626.951340830]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(larm), CORBA::SystemException INV_OBJREF [rtmlaunch] Activate <- Inactive /hiro023:15005/DataLoggerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /hiro023:15005/SequencePlayerServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /hiro023:15005/ForwardKinematicsServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /hiro023:15005/StateHolderServiceROSBridge.rtc [rtmlaunch] check connection/activation [rtmlaunch] Activate <- Inactive /hiro023:15005/RobotHardwareServiceROSBridge.rtc [rtmlaunch] Activate <- Inactive /hiro023:15005/ServoControllerServiceROSBridge.rtc [ INFO] [1435822627.984137590]: ADD_GROUP: rarm (/rarm_controller) [ INFO] [1435822627.984218056]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(rarm), CORBA::SystemException INV_OBJREF [ INFO] [1435822629.016437441]: ADD_GROUP: head (/head_controller) [ INFO] [1435822629.016534195]: JOINT: HEAD_JOINT0 HEAD_JOINT1 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(head), CORBA::SystemException INV_OBJREF [ INFO] [1435822630.048139363]: ADD_GROUP: torso (/torso_controller) [ INFO] [1435822630.048229610]: JOINT: CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(torso), CORBA::SystemException INV_OBJREF [INFO] [WallTime: 1435822631.022048] check 0 collision status, 0.000000 Hz [ INFO] [1435822631.080128365]: ADD_GROUP: larm_torso (/larm_torso_controller) [ INFO] [1435822631.080217272]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(larm_torso), CORBA::SystemException INV_OBJREF [ WARN] [1435822631.890178683]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [ INFO] [1435822632.112326901]: ADD_GROUP: rarm_torso (/rarm_torso_controller) [ INFO] [1435822632.112411134]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0 omniORB: ERROR -- the application attempted to invoke an operation on a nil reference. [HrpsysJointTrajectoryBridge] addJointGroup(rarm_torso), CORBA::SystemException INV_OBJREF [INFO] [WallTime: 1435822636.042027] check 0 collision status, 0.000000 Hz [ WARN] [1435822636.890409184]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec] [rtmlaunch] check connection/activation [rtmlaunch] check connection/activation [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 0 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 1 /30 [rtmlaunch] Wait for /hiro023:15005/sh.rtc:StateHolderService 2 /30 ^C[collision_state-20] killing on exit