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[jsk_2013_jsk_2013_04_pr2_610] demo does not work with downward planner #1286

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sktometometo opened this issue Apr 2, 2020 · 4 comments
Open

[jsk_2013_jsk_2013_04_pr2_610] demo does not work with downward planner #1286

sktometometo opened this issue Apr 2, 2020 · 4 comments

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@sktometometo
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This demo does not work with downward planner.

  • Ubuntu bionic + ROS melodic
  • workspace environment: This PR

case 1 ( demo_tray.launch + downward planner )

~ $ ROBOT=sim roslaunch jsk_2013_04_pr2_610 demo_tray.launch 
... logging to /home/sktometometo/.ros/log/8c46daa4-74ac-11ea-8134-185e0f6d3cd8/roslaunch-Persing-23432.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Persing:45501/

SUMMARY
========

PARAMETERS
 * /footobject_laser_filter/scan_filter_chain: [{'type': 'laser_...
 * /narrow_stereo/left/laundry_pose_extractor/distanceratio_threshold: 0.49
 * /narrow_stereo/left/laundry_pose_extractor/error_threshold: 80.0
 * /narrow_stereo/left/laundry_pose_extractor/object_height: 0.15
 * /narrow_stereo/left/laundry_pose_extractor/object_width: 0.4
 * /narrow_stereo/left/laundry_pose_extractor/relative_pose: 0.164 0.27 -1.129...
 * /narrow_stereo/left/laundry_pose_extractor/reprojection_threshold: 3.0
 * /narrow_stereo/left/laundry_pose_extractor/template_filename: /home/sktometomet...
 * /narrow_stereo/left/laundry_pose_extractor/viewer_window: False
 * /narrow_stereo/left/laundry_pose_extractor/window_name: laundry_button
 * /narrow_stereo/left/tray_pose_extractor/distanceratio_threshold: 0.49
 * /narrow_stereo/left/tray_pose_extractor/error_threshold: 80.0
 * /narrow_stereo/left/tray_pose_extractor/object_height: 0.38
 * /narrow_stereo/left/tray_pose_extractor/object_width: 0.27
 * /narrow_stereo/left/tray_pose_extractor/relative_pose: 0.19 0.11 0.0 0 0 0
 * /narrow_stereo/left/tray_pose_extractor/reprojection_threshold: 3.0
 * /narrow_stereo/left/tray_pose_extractor/template_filename: /opt/ros/melodic/...
 * /narrow_stereo/left/tray_pose_extractor/viewer_window: False
 * /narrow_stereo/left/tray_pose_extractor/window_name: tray_center
 * /pddl_planner/pddl_planner: downward
 * /pddl_planner/pddl_search_option: --heuristic "hlm=...
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /shadow_laser_filter/scan_filter_chain: [{'type': 'ScanSh...

NODES
  /narrow_stereo/left/
    laundry_pose_extractor (jsk_perception/point_pose_extractor)
    laundry_sift (imagesift/imagesift)
    laundry_throttle (topic_tools/throttle)
    tray_pose_extractor (jsk_perception/point_pose_extractor)
  /
    check_chair_marker (jsk_2013_04_pr2_610/check-publish-marker.l)
    detect_chaire (jsk_2013_04_pr2_610/detect-chair.l)
    detect_table (jsk_2013_04_pr2_610/detect-table.l)
    footobject_laser_filter (laser_filters/scan_to_scan_filter_chain)
    irt_demo (roseus/roseus)
    pddl_planner (pddl_planner/pddl.py)
    shadow_laser_filter (laser_filters/scan_to_scan_filter_chain)

auto-starting new master
process[master]: started with pid [23442]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c46daa4-74ac-11ea-8134-185e0f6d3cd8
process[rosout-1]: started with pid [23453]
started core service [/rosout]
process[shadow_laser_filter-2]: started with pid [23460]
process[footobject_laser_filter-3]: started with pid [23461]
process[detect_chaire-4]: started with pid [23467]
process[detect_table-5]: started with pid [23470]
[ERROR] [WallTime: 1585809504.546636343] [node:/shadow_laser_filter] [func:FilterChain<T>::configure]: Bad filter type ScanShadowsFilter. Filter type must be of form <package_name>/<filter_name>
process[check_chair_marker-6]: started with pid [23477]
process[narrow_stereo/left/laundry_throttle-7]: started with pid [23480]
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel process[narrow_stereo/left/laundry_sift-8]: started with pid [23482]
;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
process[narrow_stereo/left/laundry_pose_extractor-9]: started with pid [23490]
;; readmacro ;; object ;; packsym ;; common ;; constants ;; hid ;; shadow ;; bodyrel ;; dda ;; stream ;; string ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins process[narrow_stereo/left/tray_pose_extractor-10]: started with pid [23491]
;; par ;; intersection ;; geoclasses ;; Xgraphics ;; Xcolor ;; Xeus ;; geopack process[pddl_planner-11]: started with pid [23492]
;; Xevent ;; geobody ;; primt ;; Xpanel ;; Xitem ;; compose ;; polygon ;; Xtext ;; viewing ;; Xmenu ;; Xscroll ;; viewport ;; Xcanvas ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; Xtop ;; helpsub ;; eushelp ;; Xapplwin ;; xforeign ;; Xdecl configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common 
;; constants connected to Xserver DISPLAY=:0
process[irt_demo-12]: started with pid [23497]
;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; Xgraphics ;; Xcolor ;; tty ;; history ;; toplevel ;; trans ;; comp ;; pbmfile ;; builtins ;; image_correlation ;; oglforeign ;; Xeus ;; par ;; intersection ;; geoclasses ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; gldecl ;; Xtop ;; Xapplwin ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; glconst ;; viewing ;; viewport ;; viewsurface 
;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; Xgraphics ;; Xcolor ;; glforeign ;; gluconst ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture 
connected to Xserver DISPLAY=:0
;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign irtmath irtutil ;; gldecl configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; glconst ;; pbmfile ;; image_correlation ;; oglforeign ;; common ;; constants ;; gldecl ;; glconst ;; stream irtc irtgeoc irtgraph ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; glforeign ;; comp ;; gluconst ;; builtins ;; glforeign ;; gluconst ;; par ___time ;; intersection ;; geoclasses ___pgsql ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim irtmath ;; gleus ;; geopack irtutil ;; glview ;; geobody ;; primt ;; compose ;; polygon ;; toiv-undefined ;; fstringdouble ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda irtmath irtutil ;; helpsub ;; eushelp irtc irtgeoc irtgraph irtc irtgeoc irtgraph ;; xforeign ;; Xdecl ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtgeo euspqp pqp irtscene irtmodel irtdyna ___time irtrobot irtsensor ___pgsql ;; Xgraphics irtbvh irtdyna ;; Xcolor ;; Xeus ;; Xevent irtrobot ;; Xpanel irtcollada irtpointcloud ;; Xitem ;; Xtext irtx irtsensor irtgeo ;; Xmenu ;; Xscroll ;; Xcanvas euspqp pqp irtscene ;; Xtop irtmodel eusjpeg euspng png irtimage irtglrgb irtbvh 
;; extending gcstack 0x558844c5e690[16374] --> 0x5588450e3340[32748] top=3d66
;; Xapplwin 
irtdyna connected to Xserver DISPLAY=:0
irtrobot irtsensor irtcollada irtbvh irtpointcloud irtx X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage eusjpeg irtgl euspng png irtimage irtglrgb irtcollada irtpointcloud irtglc irtviewer 
;; extending gcstack 0x563ef7440690[16374] --> 0x563ef78c5340[32748] top=3d66
irtx ;; pbmfile ;; image_correlation ;; oglforeign eusjpeg 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
euspng png irtimage irtglrgb 
;; extending gcstack 0x563a32cd0690[16374] --> 0x563a33155340[32748] top=3d66
;; gldecl ;; glconst ;; glforeign ;; gluconst roseus irtgl id = 0
lvl = 4294967295
[ WARN] [WallTime: 1585809506.144626749] [node:/narrow_stereo/left/laundry_pose_extractor] [func:dyn_conf_callback]: template_id is invalid
;; gluforeign ;; glxconst irtglc irtviewer ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtgl 
irtmath irtutil EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
id = 0
lvl = 4294967295
[ WARN] [WallTime: 1585809506.173436570] [node:/narrow_stereo/left/tray_pose_extractor] [func:dyn_conf_callback]: template_id is invalid
irtglc irtviewer 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
irtc irtgeoc irtgraph roseus roseus ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel ;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809506.370284415] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809506.372135663] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
eustf eustf irtdyna irtrobot irtsensor irtbvh ;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809506.544761099] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x55a672edd690[16374] --> 0x55a673362340[32748] top=3d66
eustf irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
roseus ;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809506.967262360] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
eustf roseus_c_util roseus_c_util roseus_c_util roseus_c_util 
;; extending gcstack 0x55a673362340[32738] --> 0x55a6755d91e0[65476] top=7fb0

;; extending gcstack 0x563ef78c5340[32738] --> 0x563ef97ae930[65476] top=7ec1

;; extending gcstack 0x563a33155340[32738] --> 0x563a3503aee0[65476] top=7eb3
[ INFO] [WallTime: 1585809515.230273712] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809515.544475687] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809519.305519067] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809519.334322728] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809519.344515569] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809519.435962890] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809519.472580947] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809519.496668858] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
;; define detect-with-base-laser;; define hold-chair;; define grasp-can-single;; define open-fridge-door;; define grasp-can;; define close-fridge;; define place-tray;; define pick-tray[ INFO] [WallTime: 1585809520.155394468] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809520.168546087] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ WARN] [WallTime: 1585809520.171344991] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
type (demo) to start
type (setup) to revert all object location
[ WARN] [WallTime: 1585809522.169055794] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809522.170686948] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809522.170877533] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: #<controller-action-client #X563ef7aba630 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809522.170900695] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809522.170942161] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809522.170972225] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809522.171010720] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /detect_chaire')
current *timer-job* is ((lambda nil (send #<pr2-interface #X563ef7971bf0> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809523.027073058] [node:/detect_table] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809523.029981058] [node:/detect_table] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809523.030747663] [node:/detect_table] [func:ROSEUS_ROSWARN]: #<controller-action-client #X563a333449a8 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809523.030869724] [node:/detect_table] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809523.030926312] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809523.030957460] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809523.030989227] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /detect_table')
current *timer-job* is ((lambda nil (send #<pr2-interface #X563a34dae9c8> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809525.589301089] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809525.589515034] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809525.589553180] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809525.690890358] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X563ef905d3d0 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809526.475287568] [node:/detect_table] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809526.475610784] [node:/detect_table] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809526.475704230] [node:/detect_table] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809526.560262316] [node:/detect_table] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X563a34786d40 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809532.670424668] [node:/irt_demo] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809532.670824796] [node:/irt_demo] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809532.670962848] [node:/irt_demo] [func:ROSEUS_ROSWARN]: #<controller-action-client #X55a673e86f08 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809532.671037304] [node:/irt_demo] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809532.671136868] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809532.671233704] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809532.671298039] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /irt_demo')
current *timer-job* is ((lambda nil (send #<pr2-interface #X55a676b7e8d8> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809536.315234730] [node:/irt_demo] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809536.315385290] [node:/irt_demo] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809536.315441445] [node:/irt_demo] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809536.398865601] [node:/irt_demo] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X55a67594dc40 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ERROR] [WallTime: 1585809536.399150700] [node:/irt_demo] [func:EUSTF_LOOKUPTRANSFORM]: "world" passed to lookupTransform argument target_frame does not exist. 
[ INFO] [WallTime: 1585809536.399616878] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base_node/local_costmap/inflation_layer/set_parameters] has not been advertised, waiting...
[ INFO] [WallTime: 1585809536.400050038] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base/clear_costmaps] has not been advertised, waiting...
[ WARN] [WallTime: 1585809536.749528701] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
waiting pddl_planner
get actionlib server
send goal and waiting...
[INFO] [WallTime: 1585809537.099730] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: take a message
[INFO] [WallTime: 1585809537.103154] [node:/pddl_planner] [func:PDDLPlannerActionServer.gen_tmp_pddl_file]: gen_tmp_pddl_file: requirements::typing
[INFO] [WallTime: 1585809537.113957] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: problem_path => /tmp/problem_OugTUZ
[INFO] [WallTime: 1585809537.122251] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: domain_path => /tmp/domain_IfrPGz
[INFO] [WallTime: 1585809537.138764] [node:/pddl_planner] [func:PDDLPlannerActionServer.exec_process]: Command: rosrun downward plan /tmp/domain_IfrPGz /tmp/problem_OugTUZ --heuristic "hlm=lmcount(lm_rhw(reasonable_orders=true,lm_cost_type=2,cost_type=2),pref=true)" --heuristic "hff=ff()" --search "iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), lazy_wastar([hff,hlm],preferred=[hff,hlm],w=5), lazy_wastar([hff,hlm],preferred=[hff,hlm],w=3), lazy_wastar([hff,hlm],preferred=[hff,hlm],w=2)], repeat_last=false)" --plan-file /tmp/plan_JV0h3F
[ERROR] [WallTime: 1585809539.953835] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: Planner exited with error: Output:
1. Running translator
Second argument is a file name: use two translator arguments.
Parsing...
Parsing: [0.010s CPU, 0.007s wall-clock]
Normalizing task... [0.000s CPU, 0.001s wall-clock]
Instantiating...
Generating Datalog program... [0.000s CPU, 0.001s wall-clock]
Normalizing Datalog program...
Normalizing Datalog program: [0.000s CPU, 0.002s wall-clock]
Preparing model... [0.000s CPU, 0.001s wall-clock]
Generated 42 rules.
Computing model... [0.010s CPU, 0.014s wall-clock]
371 relevant atoms
182 auxiliary atoms
553 final queue length
775 total queue pushes
Completing instantiation... [0.020s CPU, 0.019s wall-clock]
Instantiating: [0.030s CPU, 0.037s wall-clock]
Computing fact groups...
Finding invariants...
23 initial candidates
Finding invariants: [0.010s CPU, 0.003s wall-clock]
Checking invariant weight... [0.000s CPU, 0.000s wall-clock]
Instantiating groups... [0.000s CPU, 0.001s wall-clock]
Collecting mutex groups... [0.000s CPU, 0.000s wall-clock]
Choosing groups...
78 uncovered facts
Choosing groups: [0.000s CPU, 0.002s wall-clock]
Building translation key... [0.000s CPU, 0.001s wall-clock]
Computing fact groups: [0.010s CPU, 0.010s wall-clock]
Building STRIPS to SAS dictionary... [0.000s CPU, 0.000s wall-clock]
Building dictionary for full mutex groups... [0.000s CPU, 0.001s wall-clock]
Building mutex information...
Building mutex information: [0.010s CPU, 0.002s wall-clock]
Translating task...
Processing axioms...
Simplifying axioms... [0.000s CPU, 0.000s wall-clock]
Processing axioms: [0.000s CPU, 0.001s wall-clock]
Translating task: [0.280s CPU, 0.309s wall-clock]
143 effect conditions simplified
0 implied preconditions added
Detecting unreachable propositions...
0 operators removed
3 propositions removed
Detecting unreachable propositions: [0.080s CPU, 0.077s wall-clock]
Translator variables: 81
Translator derived variables: 1
Translator facts: 225
Translator goal facts: 1
Translator mutex groups: 6
Translator total mutex groups size: 105
Translator operators: 187
Translator axioms: 10648
Translator task size: 43972
Translator peak memory: 64764 KB
Writing output... [0.090s CPU, 0.093s wall-clock]
Done! [0.520s CPU, 0.545s wall-clock]

2. Running preprocessor
Building causal graph...
The causal graph is not acyclic.
37 variables of 81 necessary
0 of 6 mutex groups necessary.
154 of 187 operators necessary.
10648 of 10648 axiom rules necessary.
Building domain transition graphs...
solveable in poly time 0
Building successor generator...
Preprocessor facts: 137
Preprocessor derived variables: 1
Preprocessor task size: 43559
Writing output...
done


3. Running search
This is a unit task.
reading input... [t=0s]
Simplifying transitions... done!
done reading input! [t=0.08s]
building causal graph...done! [t=0.09s]
packing state variables...Variables: 37
Bytes per state: 8
done! [t=0.09s]
done initalizing global data [t=0.09s]
Peak memory: 11600 KB

Error:
parse error: 
missing ) at: 
list
Usage error occurred.

Exit code: 2

plan= nil
[ERROR] [WallTime: 1585809544.812175529] [node:/irt_demo] [func:EUSTF_LOOKUPTRANSFORM]: "world" passed to lookupTransform argument target_frame does not exist. 
[ INFO] [WallTime: 1585809544.813505499] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base_node/local_costmap/inflation_layer/set_parameters] has not been advertised, waiting...
[ INFO] [WallTime: 1585809544.815961025] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base/clear_costmaps] has not been advertised, waiting...
[ WARN] [WallTime: 1585809547.625144777] [node:/irt_demo] [func:ROSEUS_ROSWARN]: [robotsound_jp] action server is not found
[ WARN] [WallTime: 1585809547.625308326] [node:/irt_demo] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809547.625371551] [node:/irt_demo] [func:ROSEUS_ROSWARN]: action server /robotsound_jp not found.
[ INFO] [WallTime: 1585809548.630626282] [node:/irt_demo] [func:ROSEUS_EXIT]: cell* ROSEUS_EXIT(context*, int, cell**)
[ INFO] [WallTime: 1585809548.630754334] [node:/irt_demo] [func:ROSEUS_EXIT]: exiting roseus 0
[irt_demo-12] process has finished cleanly
log file: /home/sktometometo/.ros/log/8c46daa4-74ac-11ea-8134-185e0f6d3cd8/irt_demo-12*.log

case 2 ( demo_tray.launch + ffha planner )

~ $ ROBOT=sim roslaunch jsk_2013_04_pr2_610 demo_tray.launch use_ffha:=true
... logging to /home/sktometometo/.ros/log/d89c06d6-74ac-11ea-8134-185e0f6d3cd8/roslaunch-Persing-24228.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Persing:38461/

SUMMARY
========

PARAMETERS
 * /footobject_laser_filter/scan_filter_chain: [{'type': 'laser_...
 * /narrow_stereo/left/laundry_pose_extractor/distanceratio_threshold: 0.49
 * /narrow_stereo/left/laundry_pose_extractor/error_threshold: 80.0
 * /narrow_stereo/left/laundry_pose_extractor/object_height: 0.15
 * /narrow_stereo/left/laundry_pose_extractor/object_width: 0.4
 * /narrow_stereo/left/laundry_pose_extractor/relative_pose: 0.164 0.27 -1.129...
 * /narrow_stereo/left/laundry_pose_extractor/reprojection_threshold: 3.0
 * /narrow_stereo/left/laundry_pose_extractor/template_filename: /home/sktometomet...
 * /narrow_stereo/left/laundry_pose_extractor/viewer_window: False
 * /narrow_stereo/left/laundry_pose_extractor/window_name: laundry_button
 * /narrow_stereo/left/tray_pose_extractor/distanceratio_threshold: 0.49
 * /narrow_stereo/left/tray_pose_extractor/error_threshold: 80.0
 * /narrow_stereo/left/tray_pose_extractor/object_height: 0.38
 * /narrow_stereo/left/tray_pose_extractor/object_width: 0.27
 * /narrow_stereo/left/tray_pose_extractor/relative_pose: 0.19 0.11 0.0 0 0 0
 * /narrow_stereo/left/tray_pose_extractor/reprojection_threshold: 3.0
 * /narrow_stereo/left/tray_pose_extractor/template_filename: /opt/ros/melodic/...
 * /narrow_stereo/left/tray_pose_extractor/viewer_window: False
 * /narrow_stereo/left/tray_pose_extractor/window_name: tray_center
 * /pddl_planner/pddl_planner: ffha
 * /pddl_planner/pddl_search_option: -i 120
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /shadow_laser_filter/scan_filter_chain: [{'type': 'ScanSh...

NODES
  /narrow_stereo/left/
    laundry_pose_extractor (jsk_perception/point_pose_extractor)
    laundry_sift (imagesift/imagesift)
    laundry_throttle (topic_tools/throttle)
    tray_pose_extractor (jsk_perception/point_pose_extractor)
  /
    check_chair_marker (jsk_2013_04_pr2_610/check-publish-marker.l)
    detect_chaire (jsk_2013_04_pr2_610/detect-chair.l)
    detect_table (jsk_2013_04_pr2_610/detect-table.l)
    footobject_laser_filter (laser_filters/scan_to_scan_filter_chain)
    irt_demo (roseus/roseus)
    pddl_planner (pddl_planner/pddl.py)
    shadow_laser_filter (laser_filters/scan_to_scan_filter_chain)

auto-starting new master
process[master]: started with pid [24239]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d89c06d6-74ac-11ea-8134-185e0f6d3cd8
process[rosout-1]: started with pid [24265]
started core service [/rosout]
process[shadow_laser_filter-2]: started with pid [24272]
process[footobject_laser_filter-3]: started with pid [24273]
process[detect_chaire-4]: started with pid [24279]
process[detect_table-5]: started with pid [24285]
process[check_chair_marker-6]: started with pid [24290]
[ERROR] [WallTime: 1585809632.738142726] [node:/shadow_laser_filter] [func:FilterChain<T>::configure]: Bad filter type ScanShadowsFilter. Filter type must be of form <package_name>/<filter_name>
process[narrow_stereo/left/laundry_throttle-7]: started with pid [24291]
process[narrow_stereo/left/laundry_sift-8]: started with pid [24294]
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty process[narrow_stereo/left/laundry_pose_extractor-9]: started with pid [24302]
;; history ;; toplevel ;; trans ;; comp ;; builtins configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; par ;; constants ;; intersection ;; geoclasses ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates process[narrow_stereo/left/tray_pose_extractor-10]: started with pid [24303]
;; tty ;; history ;; toplevel ;; trans ;; comp ;; viewing ;; viewport ;; viewsurface ;; builtins ;; hid ;; shadow ;; bodyrel ;; dda configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; par ;; constants ;; intersection ;; helpsub process[pddl_planner-11]: started with pid [24304]
;; geoclasses ;; stream ;; eushelp ;; xforeign ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; Xdecl ;; mathtran ;; eusdebug ;; eusforeign ;; geopack ;; extnum ;; coordinates ;; geobody ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; par ;; hid ;; shadow ;; bodyrel ;; dda ;; intersection ;; geoclasses ;; helpsub ;; eushelp ;; xforeign ;; geopack ;; Xdecl ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda process[irt_demo-12]: started with pid [24309]
;; Xgraphics ;; Xcolor ;; helpsub ;; eushelp ;; Xeus ;; xforeign ;; Xdecl ;; Xevent ;; Xpanel ;; Xgraphics ;; Xitem ;; Xtext ;; Xcolor ;; Xmenu ;; Xeus ;; Xscroll ;; Xcanvas ;; Xtop ;; Xgraphics ;; Xapplwin ;; Xcolor ;; Xeus 
;; Xevent ;; Xpanel ;; Xitem ;; Xtext connected to Xserver DISPLAY=:0
;; Xmenu ;; Xscroll ;; Xcanvas ;; Xevent ;; Xpanel ;; Xtop ;; Xitem ;; Xtext X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; Xapplwin ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin ;; pbmfile 
;; image_correlation ;; oglforeign 
;; gldecl ;; glconst connected to Xserver DISPLAY=:0
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; glforeign ;; gluconst ;; pbmfile ;; image_correlation ;; oglforeign ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; gldecl ;; readmacro ;; object ;; packsym ;; common ;; glconst ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ___time ;; array ;; mathtran ;; eusdebug ___pgsql X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; glforeign ;; comp ;; pbmfile ;; image_correlation ;; gluconst ;; oglforeign ;; gluforeign ;; glxconst ;; builtins ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtgeo ;; gldecl ;; par irtmath irtutil euspqp pqp irtscene ;; intersection ;; geoclasses irtmodel ;; glconst ;; geopack ;; geobody ;; primt irtc irtgeoc irtgraph ;; compose irtdyna ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; glforeign ;; gluconst ;; bodyrel ;; dda irtrobot irtsensor ;; helpsub ;; eushelp irtbvh ;; xforeign ;; Xdecl ___time ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ___pgsql ;; toiv-undefined ;; fstringdouble irtmath irtutil irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5610a867a690[16374] --> 0x5610a8aff340[32748] top=3d66
irtc irtgeoc irtgraph ;; Xgraphics irtgeo euspqp pqp irtscene irtmodel ;; Xcolor ;; Xeus irtgl irtglc irtviewer ___time 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
;; Xevent ___pgsql roseus ;; Xpanel irtdyna ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin irtrobot irtsensor irtgeo 
euspqp pqp irtscene irtmodel connected to Xserver DISPLAY=:0
;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809634.001579837] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
irtbvh X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage irtdyna irtrobot irtsensor irtbvh ;; pbmfile ;; image_correlation ;; oglforeign eustf irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x5562722d5690[16374] --> 0x55627275a340[32748] top=3d66
;; gldecl irtcollada irtpointcloud ;; glconst irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x558d79a0c690[16374] --> 0x558d79e91340[32748] top=3d66
;; glforeign ;; gluconst irtgl ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtglc irtviewer irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)

EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
irtc irtgeoc irtgraph roseus ___time roseus ___pgsql irtgeo euspqp pqp irtscene irtmodel id = 0
lvl = 4294967295
[ WARN] [WallTime: 1585809634.484004849] [node:/narrow_stereo/left/laundry_pose_extractor] [func:dyn_conf_callback]: template_id is invalid
irtdyna irtrobot irtsensor irtbvh id = 0
lvl = 4294967295
[ WARN] [WallTime: 1585809634.559763965] [node:/narrow_stereo/left/tray_pose_extractor] [func:dyn_conf_callback]: template_id is invalid
;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809634.562633908] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
[ INFO] [WallTime: 1585809634.562755241] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
irtcollada eustf eustf irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x562f5ee0c690[16374] --> 0x562f5f291340[32748] top=3d66
irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.1) for Linux64 created on ip-172-30-1-167(Wed Mar 4 01:33:18 UTC 2020)
roseus_c_util roseus ;; loading roseus("1.7.4") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
[ INFO] [WallTime: 1585809635.011846441] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
eustf roseus_c_util roseus_c_util roseus_c_util 
;; extending gcstack 0x562f5f291340[32738] --> 0x562f615081e0[65476] top=7fb0

;; extending gcstack 0x5610a8aff340[32738] --> 0x5610aa9e8930[65476] top=7ec1

;; extending gcstack 0x558d79e91340[32738] --> 0x558d7bd76ee0[65476] top=7eb3
[ INFO] [WallTime: 1585809642.555471180] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809642.892362156] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809646.789292723] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809646.831382305] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809646.849046286] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809646.949863103] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ INFO] [WallTime: 1585809647.032428142] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809647.095978923] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
;; define detect-with-base-laser;; define hold-chair;; define grasp-can-single;; define open-fridge-door;; define grasp-can;; define close-fridge;; define place-tray;; define pick-tray[ INFO] [WallTime: 1585809648.321517662] [node:/irt_demo] [func:ROSEUS_ROSINFO]: Publish for /objectdetection_marker_array
[ WARN] [WallTime: 1585809648.348399442] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
[ WARN] [WallTime: 1585809648.358163139] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
type (demo) to start
type (setup) to revert all object location
[ WARN] [WallTime: 1585809651.371911971] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809651.373571884] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809651.373690448] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: #<controller-action-client #X5610a8cf4630 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809651.373741600] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809651.373788294] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809651.373830094] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809651.373864504] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /detect_chaire')
current *timer-job* is ((lambda nil (send #<pr2-interface #X5610a8babbf0> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809652.171729465] [node:/detect_table] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809652.174166155] [node:/detect_table] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809652.174328100] [node:/detect_table] [func:ROSEUS_ROSWARN]: #<controller-action-client #X558d7a0809a8 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809652.174364415] [node:/detect_table] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809652.174415376] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809652.174456569] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809652.174499744] [node:/detect_table] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /detect_table')
current *timer-job* is ((lambda nil (send #<pr2-interface #X558d7baea9c8> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809654.866832043] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809654.866952567] [node:/detect_chaire] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809654.866981405] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809654.936105308] [node:/detect_chaire] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X5610aa2973d0 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809655.724574135] [node:/detect_table] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809655.724710186] [node:/detect_table] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809655.724839801] [node:/detect_table] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809655.794055871] [node:/detect_table] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X558d7b4c2d40 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809660.827583816] [node:/irt_demo] [func:ROSEUS_ROSWARN]: [l_arm_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809660.827816833] [node:/irt_demo] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809660.827932176] [node:/irt_demo] [func:ROSEUS_ROSWARN]: #<controller-action-client #X562f5fdb5f08 l_arm_controller/follow_joint_trajectory> is not respond, pr2-interface is disabled
[ WARN] [WallTime: 1585809660.827984093] [node:/irt_demo] [func:ROSEUS_ROSWARN]: Starting 'Kinematics Simulator'
[ WARN] [WallTime: 1585809660.828036944] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /l_arm_controller/follow_joint_trajectory/goal' and 'rostopic info /l_arm_controller/follow_joint_trajectory/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809660.828082774] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (Please also check 'rostopic info /l_arm_controller/follow_joint_trajectory/feedback' and 'rostopic info /l_arm_controller/follow_joint_trajectory/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)
[ WARN] [WallTime: 1585809660.828125279] [node:/irt_demo] [func:ROSEUS_ROSWARN]:  (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping /irt_demo')
current *timer-job* is ((lambda nil (send #<pr2-interface #X562f62aadac8> :robot-interface-simulation-callback)) lisp::count-up-timer)
[ WARN] [WallTime: 1585809664.468814089] [node:/irt_demo] [func:ROSEUS_ROSWARN]: [/base_controller/follow_joint_trajectory] action server is not found
[ WARN] [WallTime: 1585809664.468931375] [node:/irt_demo] [func:ROSEUS_ROSWARN]:      goal=0, cancel=0, feedback=0, result=0
[ WARN] [WallTime: 1585809664.469074504] [node:/irt_demo] [func:ROSEUS_ROSWARN]: move-base-trajectory-action is not found
[ WARN] [WallTime: 1585809664.544694498] [node:/irt_demo] [func:ROSEUS_ROSWARN]: #<ros::simple-action-client #X562f61873c60 /r_gripper_controller/gripper_action> is not respond, pr2-interface is disabled
[ERROR] [WallTime: 1585809664.545016833] [node:/irt_demo] [func:EUSTF_LOOKUPTRANSFORM]: "world" passed to lookupTransform argument target_frame does not exist. 
[ INFO] [WallTime: 1585809664.545888086] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base_node/local_costmap/inflation_layer/set_parameters] has not been advertised, waiting...
[ INFO] [WallTime: 1585809664.546356101] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base/clear_costmaps] has not been advertised, waiting...
[ WARN] [WallTime: 1585809664.907227877] [node:/irt_demo] [func:ROSEUS]: ROSEUS is already installed as /irt_demo
waiting pddl_planner
get actionlib server
send goal and waiting...
[INFO] [WallTime: 1585809665.150817] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: take a message
[INFO] [WallTime: 1585809665.152356] [node:/pddl_planner] [func:PDDLPlannerActionServer.gen_tmp_pddl_file]: gen_tmp_pddl_file: requirements::typing
[INFO] [WallTime: 1585809665.155241] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: problem_path => /tmp/problem_6uxldK
[INFO] [WallTime: 1585809665.156496] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: domain_path => /tmp/domain_SX9F8Y
[INFO] [WallTime: 1585809665.157579] [node:/pddl_planner] [func:PDDLPlannerActionServer.exec_process]: Command: rosrun ffha ffha -i 120 -f /tmp/problem_6uxldK -o /tmp/domain_SX9F8Y
[INFO] [WallTime: 1585809665.565087] [node:/pddl_planner] [func:PDDLPlannerActionServer.parse_pddl_result_ffha]:  none, i.e. plan length

no metric specified. plan length assumed.
setting gtt = 1.0 to simulate STRIPS planning.


checking for cyclic := effects --- OK.display info is 120

ff: search configuration is EHC, if that fails then  best-first on 1*g(s) + 5*h(s) where
    metric is  plan length

Real initial cost 4.000000, with 4 actions


Cueing down from goal distance:   4.00 into depth [1]
                                  3.00             [1]
                                  2.00             [1]
                                  1.00             [1]
                                  0.00             

ff: found legal plan (steps: 4) as follows
   0: (MOVE-TO TABLE-SIDE)
   1: (PICK TRAY TABLE-SIDE)
   2: (MOVE-TO SINK)
   3: (PLACE TRAY SINK)


Total cost of plan: 4.000000 

time spent:    0.00 seconds instantiating 451 easy, 0 hard action templates
               0.00 seconds reachability analysis, yielding 300 facts and 187 actions
               0.00 seconds creating final representation with 182 relevant facts, 0 relevant fluents
               0.00 seconds computing LNF
               0.00 seconds building connectivity graph
               0.00 seconds searching, evaluating 6 states, to a max depth of 1
               0.00 seconds total time


[INFO] [WallTime: 1585809665.569916] [node:/pddl_planner] [func:PDDLPlannerActionServer.parse_pddl_result_ffha]: result => ['(MOVE-TO TABLE-SIDE)', '(PICK TRAY TABLE-SIDE)', '(MOVE-TO SINK)', '(PLACE TRAY SINK)']
[INFO] [WallTime: 1585809665.571869] [node:/pddl_planner] [func:PDDLPlannerActionServer.execute_cb]: action finished with success
plan= ((move-to table-side)
 (pick tray table-side)
 (move-to sink)
 (place tray sink))
[ERROR] [WallTime: 1585809669.534327347] [node:/irt_demo] [func:EUSTF_LOOKUPTRANSFORM]: "world" passed to lookupTransform argument target_frame does not exist. 
[ INFO] [WallTime: 1585809669.536938160] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base_node/local_costmap/inflation_layer/set_parameters] has not been advertised, waiting...
[ INFO] [WallTime: 1585809669.537634714] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base/clear_costmaps] has not been advertised, waiting...
move-to-table-side
[ERROR] [WallTime: 1585809670.805231333] [node:/irt_demo] [func:ROSEUS_SERVICE_CALL]: Failed to establish connection to service server
[ERROR] [WallTime: 1585809670.805331585] [node:/irt_demo] [func:ROSEUS_SERVICE_CALL]: attempted to call service  /tilt_laser_mux/select, but failed 
[ INFO] [WallTime: 1585809670.980071316] [node:/irt_demo] [func:service::exists]: waitForService: Service [/move_base/clear_costmaps] has not been advertised, waiting...

...

And the demo works well.

The failure of case 1 seems to be because of some kind of syntax error.

3. Running search
This is a unit task.
reading input... [t=0s]
Simplifying transitions... done!
done reading input! [t=0.08s]
building causal graph...done! [t=0.09s]
packing state variables...Variables: 37
Bytes per state: 8
done! [t=0.09s]
done initalizing global data [t=0.09s]
Peak memory: 11600 KB

Error:
parse error: 
missing ) at: 
list
Usage error occurred.

Exit code: 2

plan= nil
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Examples of pddl_planner works well in my environments.

This was referenced Apr 2, 2020
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k-okada commented May 5, 2020

@sktometometo do you find why it failing. I think some text file? return value of service? has wrong syntax. can you debug this?
``
Error:
parse error:
missing ) at:
list
Usage er

k-okada added a commit to k-okada/jsk_planning that referenced this issue Mar 3, 2021
@k-okada
add test to reproduce jsk-ros-pkg/jsk_demos#1286
8a6a8b1
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k-okada commented Mar 3, 2021

jsk-ros-pkg/jsk_planning#88 should fix this issue

k-okada added a commit to jsk-ros-pkg/jsk_planning that referenced this issue Oct 21, 2022
@k-okada
Merge pull request #88 from k-okada/fix_jsk_demos_1286
e238fe0 
add test to reproduce jsk-ros-pkg/jsk_demos#1286
k-okada added a commit to k-okada/jsk_planning that referenced this issue Dec 4, 2023
@k-okada
Fix regressons of jsk-ros-pkg#88, when planner_option without &quat;,
3ef957e 
jsk-ros-pkg#88 changes 'sp.Popen(command' to 'sp.Popen(" ".join(command)', this assumes `planner_option` uses `--search &quat;iterated([lazy_greedy([hff,hlm], preferred=[hff,hlm]), ...)&quat;`
but some launch file uses `--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)`, without &quat; and spaces, and jsk_planning 0.1.13 did not work this such eample(https://github.com/jsk-ros-pkg/jsk_demos/blob/ab0360b5580e77ca70006ce505497894fe4ac0d2/jsk_2013_04_pr2_610/test/test-demo-plan.test#L10), jsk-ros-pkg/jsk_demos#1286
this fix uses shlex.split() to keep quated substrings and uses Popen(command, stead of Popen(" ".join(command), to input quated argument as one word.
@k-okada k-okada mentioned this issue Dec 4, 2023
Open
k-okada added a commit to k-okada/jsk_planning that referenced this issue Dec 5, 2023
@k-okada
test to cehck jsk-ros-pkg#103 (planner_option without &quat;)
ad286c8 
but some launch file uses `--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)`, such as jsk-ros-pkg/jsk_demos#1286

this test check both cases
@k-okada k-okada mentioned this issue Dec 5, 2023
Merged
k-okada added a commit to k-okada/jsk_planning that referenced this issue Dec 5, 2023
@k-okada
test to cehck jsk-ros-pkg#103 (planner_option without &quat;)
2afb2a0 
but some launch file uses `--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)`, such as jsk-ros-pkg/jsk_demos#1286

this test check both cases
k-okada added a commit to k-okada/jsk_planning that referenced this issue Dec 5, 2023
@k-okada
Fix regressons of jsk-ros-pkg#88, when planner_option without &quat;,
c40d2f5 
jsk-ros-pkg#88 changes 'sp.Popen(command' to 'sp.Popen(" ".join(command)', this assumes `planner_option` uses `--search &quat;iterated([lazy_greedy([hff,hlm], preferred=[hff,hlm]), ...)&quat;`
but some launch file uses `--search iterated([lazy_greedy([hff,hlm],preferred=[hff,hlm]), ...)`, without &quat; and spaces, and jsk_planning 0.1.13 did not work this such eample(https://github.com/jsk-ros-pkg/jsk_demos/blob/ab0360b5580e77ca70006ce505497894fe4ac0d2/jsk_2013_04_pr2_610/test/test-demo-plan.test#L10), jsk-ros-pkg/jsk_demos#1286
this fix uses shlex.split() to keep quated substrings and uses Popen(command, stead of Popen(" ".join(command), to input quated argument as one word.
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k-okada commented Dec 5, 2023

@sktometometo I encountered same problem and fixed. Please use latest jsk_planning (or deb versin of 0.1.12 for melodic)

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