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default の pr2_descriptionへの変更 #149

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k-okada opened this issue Jul 7, 2015 · 7 comments
Closed
3 tasks

default の pr2_descriptionへの変更 #149

k-okada opened this issue Jul 7, 2015 · 7 comments
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@furushchev

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@k-okada
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k-okada commented Jul 7, 2015

jsk-ros-pkg/jsk_robot#366
jsk-ros-pkg/jsk_demos#987 (comment)

ですが残りの作業としてpr2.lを変えないといけないというのがあると思います．正しいですか？
@furushchev
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@k-okada 合っていると思います。
ひと通りやって見ましたが、最後で以下のエラーが出ました。

configuring by "/home/furushchev/ros/hydro_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x4896420[16374] --> 0x4ccbb00[32748] top=37b8
irtgl irtviewer 
EusLisp 9.12(fada0ef 1.0.4) for Linux64 created on pr1012(Thu Jun 18 07:20:07 PDT 2015)
roseus ;; loading roseus("6c13302") on euslisp((9.12 pr1012 Thu Jun 18 07:20:07 PDT 2015 fada0ef 1.0.4))
eustf roseus_c_util ;; WARNING link without geometry nor node: base_laser_link geometry : 0, node : 0
;; WARNING link without geometry nor node: head_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_kinect_ir_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_kinect_rgb_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_prosilica_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: projector_wg6802418_child_frame geometry : 0, node : 0
;; WARNING link without geometry : projector_wg6802418_frame
;; WARNING link without geometry nor node: narrow_stereo_l_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: narrow_stereo_r_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : narrow_stereo_r_stereo_camera_frame
;; WARNING link without geometry : narrow_stereo_l_stereo_camera_frame
;; WARNING link without geometry nor node: narrow_stereo_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : narrow_stereo_link
;; WARNING link without geometry nor node: wide_stereo_l_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: wide_stereo_r_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : wide_stereo_r_stereo_camera_frame
;; WARNING link without geometry : wide_stereo_l_stereo_camera_frame
;; WARNING link without geometry nor node: wide_stereo_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : wide_stereo_link
;; WARNING link without geometry nor node: high_def_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : high_def_frame
;; WARNING link without geometry nor node: imu_link geometry : 0, node : 0
;; WARNING link without geometry nor node: l_forearm_cam_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : l_forearm_cam_frame
;; WARNING link without geometry nor node: l_gripper_led_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: l_gripper_motor_screw_link geometry : 0, node : 0
;; WARNING link without geometry : l_gripper_motor_slider_link
;; WARNING link without geometry nor node: l_gripper_l_finger_tip_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: l_gripper_tool_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: left_arm_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: l_torso_lift_side_plate_link geometry : 0, node : 0
;; WARNING link without geometry nor node: laser_tilt_link geometry : 0, node : 0
;; WARNING link without geometry nor node: r_forearm_cam_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : r_forearm_cam_frame
;; WARNING link without geometry nor node: r_gripper_led_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: r_gripper_motor_screw_link geometry : 0, node : 0
;; WARNING link without geometry : r_gripper_motor_slider_link
;; WARNING link without geometry nor node: r_gripper_l_finger_tip_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: r_gripper_tool_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: right_arm_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: r_torso_lift_side_plate_link geometry : 0, node : 0
;; WARNING link without geometry nor node: torso_lift_motor_screw_link geometry : 0, node : 0
load model file from parameter server /robot_description to /tmp/pr2_3082.l
received narrow_stereo/left/camera_info #<sensor_msgs::camerainfo #X49ebe40> narrow_stereo_optical_frame
received narrow_stereo/right/camera_info #<sensor_msgs::camerainfo #X4b2b648> narrow_stereo_optical_frame
received wide_stereo/left/camera_info #<sensor_msgs::camerainfo #X4b29db8> wide_stereo_optical_frame
received wide_stereo/right/camera_info #<sensor_msgs::camerainfo #X4b280c0> wide_stereo_optical_frame
received l_forearm_cam/camera_info #<sensor_msgs::camerainfo #X4d5a688> l_forearm_cam_optical_frame
received r_forearm_cam/camera_info #<sensor_msgs::camerainfo #X48a46f8> r_forearm_cam_optical_frame
[ERROR] [1436322198.137005373]: could not receive prosilica/camera_info prosilica
received kinect_head/rgb/camera_info #<sensor_msgs::camerainfo #X4df8b08> head_mount_kinect_rgb_optical_frame
[ERROR] [1436322203.443588355]: could not receive kinect_head/depth/camera_info kinect_head-depth
copy model file from /tmp/pr2_3082.l to /tmp/pr2.l
output to /home/furushchev/ros/hydro/build/jsk_topic_tools/test_results/pr2eus/rosunit-make_pr2_model_file_test.xml
/home/furushchev/ros/hydro_parent/devel/share/euslisp/jskeus/eus/Linux64/bin/irteusgl unittest-error:  file #P"/home/furushchev/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus/pr2.l" not found in (apply #'ros::load-org-for-ros ros::fullname args), exitting...
[ERROR] test (apply #'ros::load-org-for-ros ros::fullname args) failed ... ( 76).
... logging to /home/furushchev/.ros/log/rostest-pr1012-2965.log
[ROSUNIT] Outputting test results to /home/furushchev/ros/hydro/build/jsk_topic_tools/test_results/pr2eus/rostest-test_make-pr2-model-file-test.xml
testmake_pr2_model_file_test ... FAILURE!
FAILURE: test [make_pr2_model_file_test] did not generate test results
  File "/usr/lib/python2.7/unittest/case.py", line 327, in run
    testMethod()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/runner.py", line 162, in fn
    self.assert_(os.path.isfile(test_file), "test [%s] did not generate test results"%test_name)
  File "/usr/lib/python2.7/unittest/case.py", line 420, in assertTrue
    raise self.failureException(msg)
--------------------------------------------------------------------------------

[ROSTEST]-----------------------------------------------------------------------

[testmake_pr2_model_file_test][failed]

SUMMARY
 * RESULT: FAIL
 * TESTS: 0
 * ERRORS: 0
 * FAILURES: 1

ERROR: The following tests failed to run:
 * testmake_pr2_model_file_test

rostest log file is in /home/furushchev/.ros/log/rostest-pr1012-2965.log

bagファイルの中で、/kinect_head/depth/camera_infoが出ていないのが原因と思ったのですが、そもそもこのトピックは1回もpublishされない気がしています。
(pr1012の/kinect_head/depth/camera_infoもpr1040(jskオリジナルurdfの方)の/openni/depth/camera_infoもrobot startしてから1回も出ていないです。)
これはそういうものなのでしょうか？

@k-okada
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k-okada commented Jul 8, 2015

camera_info がでていないことはないともいます．openni.launch単体で立ち上げて試してみてください．

◉ Kei Okada

On Wed, Jul 8, 2015 at 11:28 AM, Furushchev [email protected]
wrote:

@k-okada https://github.com/k-okada 合っていると思います。
ひと通りやって見ましたが、最後で以下のエラーが出ました。

configuring by "/home/furushchev/ros/hydro_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x4896420[16374] --> 0x4ccbb00[32748] top=37b8
irtgl irtviewer
EusLisp 9.12(fada0ef 1.0.4) for Linux64 created on pr1012(Thu Jun 18 07:20:07 PDT 2015)
roseus ;; loading roseus("6c13302") on euslisp((9.12 pr1012 Thu Jun 18 07:20:07 PDT 2015 fada0ef 1.0.4))
eustf roseus_c_util ;; WARNING link without geometry nor node: base_laser_link geometry : 0, node : 0
;; WARNING link without geometry nor node: head_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_kinect_ir_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_kinect_rgb_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: head_mount_prosilica_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: projector_wg6802418_child_frame geometry : 0, node : 0
;; WARNING link without geometry : projector_wg6802418_frame
;; WARNING link without geometry nor node: narrow_stereo_l_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: narrow_stereo_r_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : narrow_stereo_r_stereo_camera_frame
;; WARNING link without geometry : narrow_stereo_l_stereo_camera_frame
;; WARNING link without geometry nor node: narrow_stereo_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : narrow_stereo_link
;; WARNING link without geometry nor node: wide_stereo_l_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: wide_stereo_r_stereo_camera_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : wide_stereo_r_stereo_camera_frame
;; WARNING link without geometry : wide_stereo_l_stereo_camera_frame
;; WARNING link without geometry nor node: wide_stereo_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : wide_stereo_link
;; WARNING link without geometry nor node: high_def_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : high_def_frame
;; WARNING link without geometry nor node: imu_link geometry : 0, node : 0
;; WARNING link without geometry nor node: l_forearm_cam_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : l_forearm_cam_frame
;; WARNING link without geometry nor node: l_gripper_led_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: l_gripper_motor_screw_link geometry : 0, node : 0
;; WARNING link without geometry : l_gripper_motor_slider_link
;; WARNING link without geometry nor node: l_gripper_l_finger_tip_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: l_gripper_tool_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: left_arm_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: l_torso_lift_side_plate_link geometry : 0, node : 0
;; WARNING link without geometry nor node: laser_tilt_link geometry : 0, node : 0
;; WARNING link without geometry nor node: r_forearm_cam_optical_frame geometry : 0, node : 0
;; WARNING link without geometry : r_forearm_cam_frame
;; WARNING link without geometry nor node: r_gripper_led_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: r_gripper_motor_screw_link geometry : 0, node : 0
;; WARNING link without geometry : r_gripper_motor_slider_link
;; WARNING link without geometry nor node: r_gripper_l_finger_tip_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: r_gripper_tool_frame geometry : 0, node : 0
;; WARNING link without geometry nor node: right_arm_chain_cb_link geometry : 0, node : 0
;; WARNING link without geometry nor node: r_torso_lift_side_plate_link geometry : 0, node : 0
;; WARNING link without geometry nor node: torso_lift_motor_screw_link geometry : 0, node : 0
load model file from parameter server /robot_description to /tmp/pr2_3082.l
received narrow_stereo/left/camera_info #<sensor_msgs::camerainfo #X49ebe40> narrow_stereo_optical_frame
received narrow_stereo/right/camera_info #<sensor_msgs::camerainfo #X4b2b648> narrow_stereo_optical_frame
received wide_stereo/left/camera_info #<sensor_msgs::camerainfo #X4b29db8> wide_stereo_optical_frame
received wide_stereo/right/camera_info #<sensor_msgs::camerainfo #X4b280c0> wide_stereo_optical_frame
received l_forearm_cam/camera_info #<sensor_msgs::camerainfo #X4d5a688> l_forearm_cam_optical_frame
received r_forearm_cam/camera_info #<sensor_msgs::camerainfo #X48a46f8> r_forearm_cam_optical_frame
[ERROR] [1436322198.137005373]: could not receive prosilica/camera_info prosilica
received kinect_head/rgb/camera_info #<sensor_msgs::camerainfo #X4df8b08> head_mount_kinect_rgb_optical_frame
[ERROR] [1436322203.443588355]: could not receive kinect_head/depth/camera_info kinect_head-depth
copy model file from /tmp/pr2_3082.l to /tmp/pr2.l
output to /home/furushchev/ros/hydro/build/jsk_topic_tools/test_results/pr2eus/rosunit-make_pr2_model_file_test.xml
/home/furushchev/ros/hydro_parent/devel/share/euslisp/jskeus/eus/Linux64/bin/irteusgl unittest-error: file #P"/home/furushchev/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus/pr2.l" not found in (apply #'ros::load-org-for-ros ros::fullname args), exitting...
[ERROR] test (apply #'ros::load-org-for-ros ros::fullname args) failed ... ( 76).
... logging to /home/furushchev/.ros/log/rostest-pr1012-2965.log
[ROSUNIT] Outputting test results to /home/furushchev/ros/hydro/build/jsk_topic_tools/test_results/pr2eus/rostest-test_make-pr2-model-file-test.xml
testmake_pr2_model_file_test ... FAILURE!
FAILURE: test [make_pr2_model_file_test] did not generate test results
File "/usr/lib/python2.7/unittest/case.py", line 327, in run
testMethod()
File "/opt/ros/hydro/lib/python2.7/dist-packages/rostest/runner.py", line 162, in fn
self.assert_(os.path.isfile(test_file), "test [%s] did not generate test results"%test_name)
File "/usr/lib/python2.7/unittest/case.py", line 420, in assertTrue

raise self.failureException(msg)

[ROSTEST]-----------------------------------------------------------------------

[testmake_pr2_model_file_test][failed]

SUMMARY

  • RESULT: FAIL
  • TESTS: 0
  • ERRORS: 0
  • FAILURES: 1

ERROR: The following tests failed to run:

  • testmake_pr2_model_file_test

rostest log file is in /home/furushchev/.ros/log/rostest-pr1012-2965.log

bagファイルの中で、/kinect_head/depth/camera_info
が出ていないのが原因と思ったのですが、そもそもこのトピックは1回もpublishされない気がしています。
(pr1012の/kinect_head/depth/camera_infoもpr1040(jskオリジナルurdfの方)の
/openni/depth/camera_infoもrobot startしてから1回も出ていないです。)
これはそういうものなのでしょうか？

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#149 (comment)
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@furushchev furushchev mentioned this issue Jul 27, 2015
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@furushchev
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@k-okada 対応が遅れました。 rqt_reconfigureでdriverのdepth_registrationをオフにしたところ、/kinect_head/depth/camera_infoからパブリッシュされるようになりました。

@furushchev
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上記のPRで対応できているつもりです。
冷蔵庫でもとエレベータは実機で動くことを確認しました。

@k-okada
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k-okada commented Sep 12, 2015

まだ，これは1012だけだっけ？であれば1040も対応しましょう．

@k-okada k-okada closed this as completed Sep 12, 2015
@furushchev
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ｐｒ１０４０も対応済みです。

@k-okada
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k-okada commented Sep 12, 2015

👍

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