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Error in orocos_barrett packet #20

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aagudel opened this issue Jul 3, 2015 · 0 comments
Open

Error in orocos_barrett packet #20

aagudel opened this issue Jul 3, 2015 · 0 comments

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@aagudel
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aagudel commented Jul 3, 2015

We own a WAM arm and are trying to test your code. We are setting up a simulation environment fist to to test the code before going deeper into the code or using it with the robot. The environment is a ROS Hydro running on top of Ubuntu 12.04/xenomai-2.6.1 (this last as recommended by barrett http://support.barrett.com/wiki/BuildingAPC/Precise64Install).

We followed carefully the instructions on your site: https://github.com/jhu-lcsr/lcsr_barrett configuring and building for simulation from the master branch. The sim mode compiled successfully. We tried then to launch one simulation with the following commands

Term1:
roscore

Term2:
cd barret_ws
export SIM_OR_HW=sim
source devel/setup.bash
roslauch lcsr_barrett wam7.launch

May of the services seem to start but something with Gazebo or Orocos barrett seems to fail. I am attach the console output. Do you know what could be the problem?

robot@robot-Precision-WorkStation-T5400:~/barrett_ws$ roslaunch lcsr_barrett wam7_sim.launch 
... logging to /home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/roslaunch-robot-Precision-WorkStation-T5400-16867.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://robot-Precision-WorkStation-T5400:50195/

SUMMARY
========

PARAMETERS
 * /gazebo/barrett_manager/auto_configure_hand
 * /gazebo/barrett_manager/auto_configure_wam
 * /gazebo/barrett_manager/joint_state_publisher_robot_Precision_WorkStation_T5400_16867_5948093799065680844/rate
 * /gazebo/barrett_manager/joint_state_publisher_robot_Precision_WorkStation_T5400_16867_5948093799065680844/source_list
 * /gazebo/barrett_manager/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_4894394900481247228/publish_frequency
 * /gazebo/barrett_manager/wam/velocity_smoothing_factor
 * /gazebo/barrett_manager/wam_dof
 * /gazebo/barrett_manager/wam_urdf_prefix
 * /gazebo/cart_servo/angular_p_gain
 * /gazebo/cart_servo/linear_p_gain
 * /gazebo/cart_servo/max_angular_error
 * /gazebo/cart_servo/max_angular_rate
 * /gazebo/cart_servo/max_linear_error
 * /gazebo/cart_servo/max_linear_rate
 * /gazebo/cart_servo/root_link
 * /gazebo/cart_servo/target_frame
 * /gazebo/coulomb/cutoff
 * /gazebo/coulomb/friction_coefficients_neg
 * /gazebo/coulomb/friction_coefficients_pos
 * /gazebo/coulomb/root_link
 * /gazebo/coulomb/target_frame
 * /gazebo/coulomb/zero_slope
 * /gazebo/effort_sum/dim
 * /gazebo/effort_sum/heartbeat_max_period
 * /gazebo/effort_sum/require_heartbeat
 * /gazebo/ik/damping
 * /gazebo/ik/hint_modes
 * /gazebo/ik/hint_positions
 * /gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_5780389667676397634/publish_frequency
 * /gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_5780389667676397634/tf_prefix
 * /gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_8651699942031800310/publish_frequency
 * /gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_8651699942031800310/tf_prefix
 * /gazebo/ik/root_link
 * /gazebo/ik/target_frame
 * /gazebo/inverse_dynamics/end_effector_frame_link
 * /gazebo/inverse_dynamics/gravity
 * /gazebo/inverse_dynamics/inertia_com_rate
 * /gazebo/inverse_dynamics/inertia_mass_rate
 * /gazebo/inverse_dynamics/robot_description_param
 * /gazebo/inverse_dynamics/root_link
 * /gazebo/joint_setpoint/root_link
 * /gazebo/joint_setpoint/tip_link
 * /gazebo/jtns/angular_d_gain
 * /gazebo/jtns/angular_effort_threshold
 * /gazebo/jtns/angular_p_gain
 * /gazebo/jtns/angular_position_threshold
 * /gazebo/jtns/joint_center_gain
 * /gazebo/jtns/joint_d_gains
 * /gazebo/jtns/jointspace_damping
 * /gazebo/jtns/linear_d_gain
 * /gazebo/jtns/linear_effort_threshold
 * /gazebo/jtns/linear_p_gain
 * /gazebo/jtns/linear_position_threshold
 * /gazebo/jtns/nullspace_damping
 * /gazebo/jtns/projector_type
 * /gazebo/jtns/root_link
 * /gazebo/jtns/singularity_avoidance_gain
 * /gazebo/jtns/target_frame
 * /gazebo/pid/compensate_friction
 * /gazebo/pid/root_link
 * /gazebo/pid/static_deadband
 * /gazebo/pid/static_effort
 * /gazebo/pid/static_eps
 * /gazebo/pid/tip_link
 * /gazebo/pid/verbose
 * /gazebo/traj_kdl/position_tolerance
 * /gazebo/traj_kdl/root_link
 * /gazebo/traj_kdl/tip_link
 * /gazebo/traj_kdl/trap_max_accs
 * /gazebo/traj_kdl/trap_max_vels
 * /gazebo/traj_kdl/velocity_tolerance
 * /gazebo/traj_rml/goal_position_tolerance
 * /gazebo/traj_rml/goal_velocity_tolerance
 * /gazebo/traj_rml/root_link
 * /gazebo/traj_rml/sampling_resolution
 * /gazebo/traj_rml/stop_on_violation
 * /gazebo/traj_rml/stop_time
 * /gazebo/traj_rml/tip_link
 * /gazebo/traj_rml/verbose
 * /gazebo/traj_setpoint/root_link
 * /gazebo/traj_setpoint/tip_link
 * /robot_description
 * /rosdistro
 * /rosversion
 * /stage_model
 * /use_sim_time

NODES
  /gazebo/ik/
    robot_state_publisher_robot_Precision_WorkStation_T5400_16867_5780389667676397634 (robot_state_publisher/robot_state_publisher)
    robot_state_publisher_robot_Precision_WorkStation_T5400_16867_8651699942031800310 (robot_state_publisher/robot_state_publisher)
    stp_robot_Precision_WorkStation_T5400_16867_4174338762117923407 (tf/static_transform_publisher)
    stp_robot_Precision_WorkStation_T5400_16867_7475951367552703545 (tf/static_transform_publisher)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    stage_pose_broadcaster (tf/static_transform_publisher)
    urdf_spawner_robot_Precision_WorkStation_T5400_16867_2320990034383928458 (gazebo_ros/spawn_model)
    urdf_spawner_robot_Precision_WorkStation_T5400_16867_8926073368765892598 (gazebo_ros/spawn_model)
  /gazebo/barrett_manager/
    joint_state_publisher_robot_Precision_WorkStation_T5400_16867_5948093799065680844 (joint_state_publisher/joint_state_publisher)
    robot_state_publisher_robot_Precision_WorkStation_T5400_16867_4894394900481247228 (robot_state_publisher/robot_state_publisher)
    rqt_barrett (rqt_barrett/rqt_barrett)

WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam7_sim.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
WARNING: [/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/orocos_component_params.launch] unknown <arg> attribute 'doc'
ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [16891]
process[gazebo_gui-2]: started with pid [16899]
process[urdf_spawner_robot_Precision_WorkStation_T5400_16867_2320990034383928458-3]: started with pid [16905]
process[urdf_spawner_robot_Precision_WorkStation_T5400_16867_8926073368765892598-4]: started with pid [16908]
process[stage_pose_broadcaster-5]: started with pid [16911]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[gazebo/barrett_manager/rqt_barrett-6]: started with pid [16926]
Msg Waiting for master.process[gazebo/barrett_manager/joint_state_publisher_robot_Precision_WorkStation_T5400_16867_5948093799065680844-7]: started with pid [16930]
.process[gazebo/barrett_manager/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_4894394900481247228-8]: started with pid [16933]
process[gazebo/ik/stp_robot_Precision_WorkStation_T5400_16867_7475951367552703545-9]: started with pid [16934]
process[gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_8651699942031800310-10]: started with pid [16947]
.process[gazebo/ik/stp_robot_Precision_WorkStation_T5400_16867_4174338762117923407-11]: started with pid [16948]
process[gazebo/ik/robot_state_publisher_robot_Precision_WorkStation_T5400_16867_5780389667676397634-12]: started with pid [16961]
.Error [parser.cc:697] XML Element[use_dynamic_moi_rescaling], child of element[solver] not defined in SDF. Ignoring.[solver]
Error [parser.cc:688] Error reading element <solver>
Error [parser.cc:688] Error reading element <ode>
Error [parser.cc:688] Error reading element <physics>
Error [parser.cc:688] Error reading element <world>
Error [parser.cc:348] Unable to read element <sdf>
Error [parser_urdf.cc:2608] Unable to call parseURDF on robot model
Error [parser.cc:273] parse as old deprecated model file failed.
Error [Server.cc:286] Unable to read sdf file[/home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam.world]
0.000 [ Info   ][Logger] Successfully extracted environment variable ORO_LOGLEVEL
0.000 [ Info   ][Logger]  OROCOS version '2.7.0' compiled with GCC 4.6.3. Running in GNU/Linux.
0.000 [ Info   ][Logger] Orocos Logging Activated at level : [ Info   ] ( 5 ) 
0.000 [ Info   ][Logger] Reference System Time is : 1435313583475241550 ticks ( 1.43531e+09 seconds ).
0.000 [ Info   ][Logger] Logging is relative to this time.
0.000 [ Info   ][ShutdownOrb] Cleaning up TaskContextServers...
0.000 [ Info   ][ShutdownOrb] Cleanup done.
0.000 [ Info   ][ShutdownOrb] Orb Shutdown...waiting...
..Traceback (most recent call last):
  File "/home/robot/barrett_ws/src/orocos_barrett/rqt_barrett/scripts/rqt_barrett", line 6, in <module>
    from rqt_barrett.barrett_dashboard import BarrettDashboard
  File "/home/robot/barrett_ws/src/orocos_barrett/rqt_barrett/src/rqt_barrett/barrett_dashboard.py", line 15, in <module>
    from urdf_parser_py.urdf import URDF
ImportError: No module named urdf_parser_py.urdf
.spawn_model script started
spawn_model script started
[gazebo/barrett_manager/rqt_barrett-6] process has died [pid 16926, exit code 1, cmd /home/robot/barrett_ws/src/orocos_barrett/rqt_barrett/scripts/rqt_barrett robot_description:=/robot_description joint_states:=wam/joint_states __name:=rqt_barrett __log:=/home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo-barrett_manager-rqt_barrett-6.log].
log file: /home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo-barrett_manager-rqt_barrett-6*.log
[INFO] [WallTime: 1435313586.121331] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1435313586.123915] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1435313586.125987] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1435313586.126185] [0.000000] Waiting for service /gazebo/spawn_urdf_model
..Segmentation fault (core dumped)
[gazebo-1] process has died [pid 16891, exit code 139, cmd /home/robot/barrett_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver --verbose /home/robot/barrett_ws/src/lcsr_barrett/launch/sim/wam.world -s librtt_gazebo_system.so __name:=gazebo __log:=/home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo-1.log].
log file: /home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo-1*.log
.....................
Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.
[gazebo_gui-2] process has died [pid 16899, exit code 255, cmd /home/robot/barrett_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient __name:=gazebo_gui __log:=/home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo_gui-2.log].
log file: /home/robot/.ros/log/ed293464-1be9-11e5-9f62-00219b814c84/gazebo_gui-2*.log
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@aagudel