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jog_frame_nodeのエラーについて #6

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aislab opened this issue Jun 13, 2018 · 10 comments
Open

jog_frame_nodeのエラーについて #6

aislab opened this issue Jun 13, 2018 · 10 comments

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@aislab
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aislab commented Jun 13, 2018

手元の環境でjog_controlをビルドし、nextageを使ったサンプルを実行してみたところ以下のようなエラーが発生しました。
indigo, kineticの両環境で試したのですが、どちらの環境でも同様のエラーが発生します。

実行した コマンドは、

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch
$ roslaunch jog_controller nextage.launch

です。

コマンドを実行したあとに、RvizのメニューからJogFramePanelを追加し、jog EnableをONにすると、以下のエラーが発生します。

[FATAL] [1528883770.639273518, 2852.395000039]: ASSERTION FAILED
	file = /opt/ros/indigo/include/ros/publisher.h
	line = 102
	cond = false
	message = 
[FATAL] [1528883770.639324560, 2852.395000039]: Call to publish() on an invalid Publisher
[FATAL] [1528883770.639352167, 2852.395000039]: 

[jog_frame_node-4] process has died [pid 15926, exit code -5, cmd /home/tanaka/ais-project/catkin_ws/devel/lib/jog_controller/jog_frame_node __name:=jog_frame_node __log:=/home/tanaka/.ros/log/59e5d102-6ee9-11e8-8f17-14dda9d451a7/jog_frame_node-4.log].
log file: /home/tanaka/.ros/log/59e5d102-6ee9-11e8-8f17-14dda9d451a7/jog_frame_node-4*.log

同様に、JogJointPanelを追加し、Jog EnableをONにすると、エラーは発生しませんでした。

そこで、ソースコードを調べてみたのですが、jog_frame_node.cpp の 156行目 の joint_map_の中身が空であることが原因だと思うのですが、いかがでしょうか。
よろしくお願い致します。

DT
@7675t
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7675t commented Jun 13, 2018

Thank you for the report! And sorry, it was a degradation while changing the method to get controller info.
623d705 should fix it, please try it again with the master branch.

@aislab
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aislab commented Jun 14, 2018

The Error did not occur with master branch.
I succeeded to operate NEXTAGE with this program.
Thank you.

@aislab aislab closed this as completed Jun 14, 2018
@7675t
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7675t commented Jun 14, 2018

Thank you @aislab !
Do you mean you tried this jog package with your actual robot?
We didn't try it with actual robots yet, so please take care when you try.
And we are very happy to receive the operating experiences. Thanks.

@aislab
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aislab commented Jun 20, 2018

We tried this program on NEXTAGE simulation.
Also, we made config and launch files for HIORNX in reference to NEXTAGE, and it worked well on simulation and actual robot we have.

But, this program has a trouble with an actual robot environment.
We operated the HIRONX with jog_control with reference to the NEXTAGE setting.
First, you operate a robot with the JogFramePanel.
Next, you stop control with JogFramePanel and start operating with JogJointPanel.
Immediately after this, the robot goes out of control and an emergency stop state.

we tried the following commands.

$ roslaunch hironx_ros_bridge hironx_ros_bridge_real.launch
$ roslaunch jog_controller hironx.launch     # this file is made by us.

@aislab aislab reopened this Jun 20, 2018
@7675t
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7675t commented Jun 20, 2018

  • Could you share your hironx.launch and related config files? PR is better.
  • The result of rosparam dump, rostopic list and rosnode list, may be help
  • Rviz panels (JogJointPanel and JogFramePanel) publish joint trajectory when the enable button is ON
  • So both panels should not be ON at same time, or controller may receive invalid command
  • Could you be more specific on the emergency stop? Does it produce any error messages?

Thanks,

@aislab
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aislab commented Jun 21, 2018

We made a PR about hironx. #10.

We did not turn on both panels(JogJointPanel and JogFramePanel).
It was turned off Jog Enable on JogFramePanel first, and after that switched on JogJointPanel.

We are sorry that we didn't record about this problem.
We will check this problem again at an early date and report here.

@aislab aislab mentioned this issue Jun 21, 2018
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@aislab
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aislab commented Jul 4, 2018

We executed the following commands, the same before.

$ roslaunch hironx_ros_bridge hironx_ros_bridge_real.launch
$ roslaunch jog_controller hironx.launch

We first switched on the JogFramePanel and move the robot's arm a little.
Then, we turned off the JogFramePanel, and the JogFramePanel turned on.
Immediately after that, the robot went out of control and the emergency stop button was pushed.

Here are the results of rosnode list, rostopic list, and rosparam dump.
These command were executed after the emergency stop.
the result of rosparam dump is very long, so it is omitted.

$ rosnode list
/DataLoggerServiceROSBridge
/ForwardKinematicsServiceROSBridge
/HrpsysJointTrajectoryBridge
/HrpsysSeqStateROSBridge
/RobotHardwareServiceROSBridge
/SequencePlayerServiceROSBridge
/ServoControllerServiceROSBridge
/StateHolderServiceROSBridge
/collision_state
/diagnostic_aggregator
/hand_joint_state_publisher
/hrpsys_profile
/hrpsys_py
/hrpsys_ros_diagnostics
/hrpsys_state_publisher
/jog_frame_node
/jog_joint_node
/joy
/joy_to_jog_frame
/move_group
/moveit_python_wrappers_1530697764492229645
/rosout
/rqt_hironxo
/rviz_ishikari_192139_8141734135711911488

$ rostopic list
/act_capture_point
/act_contact_states
/attached_collision_object
/clicked_point
/clock
/collision_detector_marker_array
/collision_object
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/emergency_mode
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/fullbody_controller/command
/fullbody_controller/follow_joint_trajectory_action/cancel
/fullbody_controller/follow_joint_trajectory_action/feedback
/fullbody_controller/follow_joint_trajectory_action/goal
/fullbody_controller/follow_joint_trajectory_action/result
/fullbody_controller/follow_joint_trajectory_action/status
/fullbody_controller/state
/head_controller/command
/head_controller/follow_joint_trajectory_action/cancel
/head_controller/follow_joint_trajectory_action/feedback
/head_controller/follow_joint_trajectory_action/goal
/head_controller/follow_joint_trajectory_action/result
/head_controller/follow_joint_trajectory_action/status
/head_controller/state
/imu
/initialpose
/jog_frame
/jog_joint
/joint_states
/joy
/larm_controller/command
/larm_controller/follow_joint_trajectory_action/cancel
/larm_controller/follow_joint_trajectory_action/feedback
/larm_controller/follow_joint_trajectory_action/goal
/larm_controller/follow_joint_trajectory_action/result
/larm_controller/follow_joint_trajectory_action/status
/larm_controller/state
/larm_torso_controller/command
/larm_torso_controller/follow_joint_trajectory_action/cancel
/larm_torso_controller/follow_joint_trajectory_action/feedback
/larm_torso_controller/follow_joint_trajectory_action/goal
/larm_torso_controller/follow_joint_trajectory_action/result
/larm_torso_controller/follow_joint_trajectory_action/status
/larm_torso_controller/state
/motor_states
/move_base_simple/goal
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/odom
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/rarm_controller/command
/rarm_controller/follow_joint_trajectory_action/cancel
/rarm_controller/follow_joint_trajectory_action/feedback
/rarm_controller/follow_joint_trajectory_action/goal
/rarm_controller/follow_joint_trajectory_action/result
/rarm_controller/follow_joint_trajectory_action/status
/rarm_controller/state
/rarm_torso_controller/command
/rarm_torso_controller/follow_joint_trajectory_action/cancel
/rarm_torso_controller/follow_joint_trajectory_action/feedback
/rarm_torso_controller/follow_joint_trajectory_action/goal
/rarm_torso_controller/follow_joint_trajectory_action/result
/rarm_torso_controller/follow_joint_trajectory_action/status
/rarm_torso_controller/state
/recognized_object_array
/ref_capture_point
/ref_contact_states
/rosout
/rosout_agg
/rviz_ishikari_192139_8141734135711911488/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_ishikari_192139_8141734135711911488/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/tf
/tf_static
/torso_controller/command
/torso_controller/follow_joint_trajectory_action/cancel
/torso_controller/follow_joint_trajectory_action/feedback
/torso_controller/follow_joint_trajectory_action/goal
/torso_controller/follow_joint_trajectory_action/result
/torso_controller/follow_joint_trajectory_action/status
/torso_controller/state
/trajectory_execution_event
/zmp

$ rosparam dump
HrpsysSeqStateROSBridge: {publish_sensor_transforms: true}
collision_state: {comp_name: CollisionDetector0}
controller_configuration:
- controller_name: /larm_controller
  group_name: larm
  joint_list: [LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4, LARM_JOINT5]
- controller_name: /rarm_controller
  group_name: rarm
  joint_list: [RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4, RARM_JOINT5]
- controller_name: /head_controller
  group_name: head
  joint_list: [HEAD_JOINT0, HEAD_JOINT1]
- controller_name: /torso_controller
  group_name: torso
  joint_list: [CHEST_JOINT0]
- controller_name: /larm_torso_controller
  group_name: larm_torso
  joint_list: [LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4, LARM_JOINT5,
    CHEST_JOINT0]
- controller_name: /rarm_torso_controller
  group_name: rarm_torso
  joint_list: [RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4, RARM_JOINT5,
    CHEST_JOINT0]
diagnostic_aggregator:
  analyzers:
    computers:
      contains: [HD Temp, CPU Usage, CPU Temperature, HD Usage, NFS]
      path: Computers
      type: diagnostic_aggregator/GenericAnalyzer
    hrpsys:
      contains: [hrpEC, Emergency Mode]
      path: Hrpsys
      type: diagnostic_aggregator/GenericAnalyzer
    mode:
      contains: [Operating Mode, Calibration Mode, Power Mode]
      path: Mode
      type: diagnostic_aggregator/GenericAnalyzer
    motor:
      contains: [Motor]
      path: Motor
      type: diagnostic_aggregator/GenericAnalyzer
  base_path: ''
  pub_rate: 1.0
jog_frame_node:
  group_names: [left_arm, right_arm]
  link_names: [LARM_JOINT5_Link, RARM_JOINT5_Link]
jog_joint_node:
  joint_names: [LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4, LARM_JOINT5,
    RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4, RARM_JOINT5]
joy: {autorepeat_rate: 10, deadzone: 0.2, dev: /dev/input/js0}
joy_to_jog_frame:
  angular_button: 5
  axis_angular: {x: 0, y: 1, z: 4}
  axis_linear: {x: 0, y: 1, z: 4}
  enable_button: 4
  frame_id: WAIST
  group_name: left_arm
  link_name: LARM_JOINT5_Link
  scale_angular: {x: -0.05, y: 0.05, z: 0.05}
  scale_linear: {x: -0.05, y: 0.05, z: 0.05}
move_group:
  allow_trajectory_execution: true
  botharms:
    default_planner_config: RRTConnectkConfigDefault
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, LBKPIECEkConfigDefault, RRTkConfigDefault,
      RRTConnectkConfigDefault, ESTkConfigDefault, KPIECEkConfigDefault, BKPIECEkConfigDefault,
      RRTStarkConfigDefault]
    projection_evaluator: joints(LARM_JOINT0,LARM_JOINT1)
  capabilities: move_group/MoveGroupCartesianPathService           move_group/MoveGroupExecuteService                                       move_group/MoveGroupGetPlanningSceneService           move_group/MoveGroupKinematicsService           move_group/MoveGroupMoveAction           move_group/MoveGroupPickPlaceAction           move_group/MoveGroupPlanService           move_group/MoveGroupQueryPlannersService           move_group/MoveGroupStateValidationService
  controller_list:
  - action_ns: follow_joint_trajectory_action
    default: true
    joints: [RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4, RARM_JOINT5]
    name: rarm_controller
    type: FollowJointTrajectory
  - action_ns: follow_joint_trajectory_action
    default: true
    joints: [LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4, LARM_JOINT5]
    name: larm_controller
    type: FollowJointTrajectory
  - action_ns: follow_joint_trajectory_action
    joints: [HEAD_JOINT0, HEAD_JOINT1]
    name: head_controller
    type: FollowJointTrajectory
  - action_ns: follow_joint_trajectory_action
    joints: [CHEST_JOINT0]
    name: torso_controller
    type: FollowJointTrajectory
  controller_manager_name: pr2_controller_manager
  controller_manager_ns: pr2_controller_manager
  head:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, ESTkConfigDefault, LBKPIECEkConfigDefault,
      BKPIECEkConfigDefault, KPIECEkConfigDefault, RRTkConfigDefault, RRTConnectkConfigDefault,
      RRTstarkConfigDefault, TRRTkConfigDefault, PRMkConfigDefault, PRMstarkConfigDefault]
    projection_evaluator: joints(HEAD_JOINT0,HEAD_JOINT1)
  jiggle_fraction: 0.05
  left_arm:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, LBKPIECEkConfigDefault, RRTkConfigDefault,
      RRTConnectkConfigDefault, ESTkConfigDefault, KPIECEkConfigDefault, BKPIECEkConfigDefault,
      RRTStarkConfigDefault]
    projection_evaluator: joints(LARM_JOINT0,LARM_JOINT1)
  left_gripper:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, LBKPIECEkConfigDefault, RRTkConfigDefault,
      RRTConnectkConfigDefault, ESTkConfigDefault, KPIECEkConfigDefault, BKPIECEkConfigDefault,
      RRTStarkConfigDefault]
    projection_evaluator: joints(LHAND_JOINT0,LHAND_JOINT1)
  max_safe_path_cost: 1
  moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
  moveit_manage_controllers: true
  ompl: {display_random_valid_states: false, link_for_exploration_tree: '', maximum_waypoint_distance: 0.0,
    minimum_waypoint_count: 10, simplify_solutions: true}
  plan_execution: {max_replan_attempts: 5, record_trajectory_state_frequency: 10.0}
  planner_configs:
    BKPIECEkConfigDefault: {type: 'geometric::BKPIECE'}
    ESTkConfigDefault: {type: 'geometric::EST'}
    KPIECEkConfigDefault: {type: 'geometric::KPIECE'}
    LBKPIECEkConfigDefault: {type: 'geometric::LBKPIECE'}
    LazyRRTkConfigDefault: {type: 'geometric::LazyRRT'}
    RRTConnectkConfigDefault: {type: 'geometric::RRTConnect'}
    RRTStarkConfigDefault: {type: 'geometric::RRTstar'}
    RRTkConfigDefault: {type: 'geometric::RRT'}
    SBLkConfigDefault: {type: 'geometric::SBL'}
  planning_plugin: ompl_interface/OMPLPlanner
  planning_scene_monitor: {publish_geometry_updates: true, publish_planning_scene: true,
    publish_planning_scene_hz: 4.0, publish_state_updates: true, publish_transforms_updates: true}
  request_adapters: default_planner_request_adapters/AddTimeParameterization            default_planner_request_adapters/FixWorkspaceBounds            default_planner_request_adapters/FixStartStateBounds            default_planner_request_adapters/FixStartStateCollision            default_planner_request_adapters/FixStartStatePathConstraints
  right_arm:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, LBKPIECEkConfigDefault, RRTkConfigDefault,
      RRTConnectkConfigDefault, ESTkConfigDefault, KPIECEkConfigDefault, BKPIECEkConfigDefault,
      RRTStarkConfigDefault]
    projection_evaluator: joints(RARM_JOINT0,RARM_JOINT1)
  right_gripper:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, LBKPIECEkConfigDefault, RRTkConfigDefault,
      RRTConnectkConfigDefault, ESTkConfigDefault, KPIECEkConfigDefault, BKPIECEkConfigDefault,
      RRTStarkConfigDefault]
    projection_evaluator: joints(RHAND_JOINT0,RHAND_JOINT1)
  sense_for_plan: {discard_overlapping_cost_sources: 0.8, max_cost_sources: 100, max_look_attempts: 3,
    max_safe_path_cost: 0.01}
  start_state_max_bounds_error: 0.1
  torso:
    default_planner_config: RRTConnectkConfigDefault
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, ESTkConfigDefault, LBKPIECEkConfigDefault,
      BKPIECEkConfigDefault, KPIECEkConfigDefault, RRTkConfigDefault, RRTConnectkConfigDefault,
      RRTstarkConfigDefault, TRRTkConfigDefault, PRMkConfigDefault, PRMstarkConfigDefault]
    projection_evaluator: joints(CHEST_JOINT0)
  trajectory_execution: {allowed_execution_duration_scaling: 2.0, allowed_goal_duration_margin: 0.5,
    allowed_start_tolerance: 0.01, execution_duration_monitoring: true, execution_velocity_scaling: 1.0}
  upperbody:
    default_planner_config: RRTConnectkConfigDefault
    longest_valid_segment_fraction: 0.05
    planner_configs: [SBLkConfigDefault, ESTkConfigDefault, LBKPIECEkConfigDefault,
      BKPIECEkConfigDefault, KPIECEkConfigDefault, RRTkConfigDefault, RRTConnectkConfigDefault,
      RRTstarkConfigDefault, TRRTkConfigDefault, PRMkConfigDefault, PRMstarkConfigDefault]
    projection_evaluator: joints(LARM_JOINT0,RARM_JOINT0)
  use_controller_manager: false
robot_description: "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<!--  Copyright (c)\
  \ 2011, General Robotix, Inc., Kawada Industries, Inc. -->\n<!--  All rights reserved.\
  \ This data is made available under the terms of the -->\n<!--  Eclipse Public License\
  \ v1.0 which accompanies this distribution, and is -->\n<!--  available at http://www.eclipse.org/legal/epl-v10.html\

...

rosdistro: 'kinetic

  '
roslaunch:
  uris: {host_ishikari__39263: 'http://ishikari:39263/', host_ishikari__39385: 'http://ishikari:39385/'}
rosversion: '1.12.13

  '
rtmnameserver_host: hiro023
rtmnameserver_port: 15005
rtmnameserver_robotname: RobotHardware0
run_id: 85b9c7b6-7f6f-11e8-9515-6805ca6c7dc5
rviz_ishikari_192139_8141734135711911488:
  head: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}
  left_arm: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}
  left_gripper: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}
  motionplanning_planning_scene_monitor: {publish_geometry_updates: true, publish_planning_scene: false,
    publish_planning_scene_hz: 4.0, publish_state_updates: false, publish_transforms_updates: false}
  right_arm: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}
  right_gripper: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}
  torso: {kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin, kinematics_solver_attempts: 3,
    kinematics_solver_search_resolution: 0.005, kinematics_solver_timeout: 0.005}

@aislab
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aislab commented Jul 4, 2018

以下のログはroslaunch hironx_ros_bridge hironx_ros_bridge_real.launchのウィンドウに表示されていたものの一部です．
ロボットの暴走と関係あるかわかりませんが、すべてのgroupの値が 0.0552518 になっているところがありました。

[ INFO] [1530698346.216218478]: [HrpsysJointTrajectoryBridge0] @onTrajectoryCommandCB()
[ INFO] [1530698346.216304556]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head)
[ INFO] [1530698346.216342718]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : trajectory.points.size() 1
[ INFO] [1530698346.216403558]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (head) : time_from_start 0.5
[ INFO] [1530698346.216439942]: [HrpsysJointTrajectoryBridge0]  0.0552518 0.0552518
[ INFO] [1530698346.216477929]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: head
[ INFO] [1530698346.216776190]: [HrpsysJointTrajectoryBridge0] @onTrajectoryCommandCB()
[ INFO] [1530698346.216834384]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm)
[ INFO] [1530698346.216879160]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : trajectory.points.size() 1
[ INFO] [1530698346.216955323]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (larm) : time_from_start 0.5
[ INFO] [1530698346.216994620]: [HrpsysJointTrajectoryBridge0]  0.0552518 0.0552518 0.0552518 0.0552518 0.0552518 0.0552518
[ INFO] [1530698346.217033135]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: larm
[ INFO] [1530698346.217307360]: [HrpsysJointTrajectoryBridge0] @onTrajectoryCommandCB()
[ INFO] [1530698346.217352421]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm)
[ INFO] [1530698346.217399416]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : trajectory.points.size() 1
[ INFO] [1530698346.217461579]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (rarm) : time_from_start 0.5
[ INFO] [1530698346.217504902]: [HrpsysJointTrajectoryBridge0]  0.0552518 0.0552518 0.0552518 0.0552518 0.0552518 0.0552518
[ INFO] [1530698346.217542429]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: rarm
[ INFO] [1530698346.217816621]: [HrpsysJointTrajectoryBridge0] @onTrajectoryCommandCB()
[ INFO] [1530698346.217866121]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso)
[ INFO] [1530698346.217907072]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : trajectory.points.size() 1
[ INFO] [1530698346.217976529]: [HrpsysJointTrajectoryBridge0] @onJointTrajectoryAction (torso) : time_from_start 0.5
[ INFO] [1530698346.218025245]: [HrpsysJointTrajectoryBridge0]  0.0552518
[ INFO] [1530698346.218059514]: [HrpsysJointTrajectoryBridge0] setJointAnglesOfGroup: torso

これ以外には、ロボットの暴走に関して特にエラー出力は確認できていません。

@7675t
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7675t commented Jul 4, 2018

Could you check following points?

  • Are you intend to use a joypad?
    If not, you should set use_joy argument false.
  • If you are intend to use a joypad, do you use Xbox wireless joypad?
    If not, you should adjust the configuration as fit to your joypad.
    Default is Xbox wireless, which configuration is config/xbox_wireless.config.yaml
    If you are not sure, please just disable use_joy.
  • Could you log the /jog_frame, /jog_joint, /larm_controller/* and /rarm_controller/* topic during the experiments?
    These topics are jog input and output, so they will explain the situation.

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7675t commented Jul 10, 2018

@aislab
#13 is merged. It changes the procedure of the control largely, so please take care to try.
I think I can check the package with a real NXO in sometime in July.

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