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Package Summary

Common Packages for RTM/ROS integration

Author: Kei Okada, Rosen Diankov
License: BSD
Source: svn https://rtm-ros-robotics.googlecode.com/svn/trunk/rtmros_common

Package Links

Dependencies (7)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: developed
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Isaac Isao Saito <iisaito AT kinugarage DOT com>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Package Links

Dependencies (7)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: developed
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Isaac Isao Saito <iisaito AT kinugarage DOT com>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Package Links

Dependencies (7)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: developed
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Package Links

Dependencies (7)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: developed
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Isaac Isao Saito <iisaito AT kinugarage DOT com>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Package Links

Dependencies (7)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: developed
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Package Summary

A package suite that provides all the capabilities for the ROS users to connect to the robots that run on RT Middleware or RTM-based controllers.

Maintainer status: maintained
Maintainer: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>
Author: Kei Okada <k-okada AT jsk.t.u-tokyo.ac DOT jp>, Rosen Diankov
License: BSD
Bug / feature tracker: https://github.com/start-jsk/rtmros_common/issues/
Source: git https://github.com/start-jsk/rtmros_common.git (branch: master)

Developmental

DEVELOPMENTAL: This status indicates that this software is not yet production ready code. The software has some level of unit-testing. There are known issues and missing functionality. The APIs are unstable but unlikely to change drastically. Use in production systems will likely require modifications including improvements and/or bug fixes. For more information see the ROS-Industrial software status page.

Contents

Documentation
Support
For rtm-ros developers
1. Common build errors

Documentation

Support

For issue report, please consider opening a ticket on the issue tracker (should be listed about in package header section).

For discussions, updates, announcements, please subscribe to the forum.

For rtm-ros developers

Common build errors

Here are some common errors and workarounds (if found any) on either of your local machine / jenkins (buildfarm at ROS infra) / travis.

(jenkins) [ERROR] Connection Failed with the Nameserver (hostname=localhost port=2809)

:
Executing command 'make run_tests'
Scanning dependencies of target clean_test_results
Built target clean_test_results
Built target tests
Scanning dependencies of target _run_tests_hironx_ros_bridge_rostest_test_test-hironx-ros-bridge.test
IDL:omg.org/CORBA/TRANSIENT:1.0
IDL:omg.org/CORBA/TRANSIENT:1.0
:
IDL:omg.org/CORBA/TRANSIENT:1.0
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=2809).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
IDL:omg.org/CORBA/TRANSIENT:1.0
[sensor_ros_bridge_connect.py]  start
configuration ORB with  localhost : 2809
[ERROR] Connection Failed with the Nameserver (hostname=localhost port=2809).
Make sure the hostname is correct and the Nameserver is running.
CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
IDL:omg.org/CORBA/TRANSIENT:1.0
[rtmlaunch] starting...  /opt/ros/hydro/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
[rtmlaunch] check connection/activation
[31m[rtmlaunch] [ERROR] Could not Connect ( /localhost:2809/HiroNX(Robot)0.rtc:q , /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ):  Invalid CORBA naming service: localhost:2809 [0m
[31m[rtmlaunch] Could not Activate ( localhost:2809/HrpsysSeqStateROSBridge0.rtc ) :  Invalid CORBA naming service: localhost:2809 [0m
IDL:omg.org/CORBA/TRANSIENT:1.0

WORKAROUND: TBD

(travis) g++: internal compiler error: Killed (program cc1plus)

This is due to memory limitation of travis server.

[0m[ 79%] Building CXX object rtc/VirtualCamera/CMakeFiles/VirtualCameraComp.dir/GLscene.o
[0m[ 79%] Building CXX object rtc/VirtualCamera/CMakeFiles/VirtualCamera.dir/GLscene.o
[0mg++: internal compiler error: Killed (program cc1plus)
[0mPlease submit a full bug report,
[0mwith preprocessed source if appropriate.
[0mSee <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
[0mmake[3]: *** [rtc/VirtualCamera/CMakeFiles/VirtualCameraComp.dir/VirtualCamera.o] Error 4
[0mmake[3]: *** Waiting for unfinished jobs....
[0mg++: internal compiler error: Killed (program cc1plus)
[0mPlease submit a full bug report,
[0mwith preprocessed source if appropriate.
[0mSee <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
[0mmake[3]: *** [rtc/VirtualCamera/CMakeFiles/VirtualCamera.dir/Virt

WORKAROUND: Wait and re-trigger travis, as recommended (here).

(travis) test RESULT: FAIL

This is failure in the test, in the test, happens in for example https://github.com/start-jsk/rtmros_hironx/blob/ef440a46961917047e8c265e62067755aa67e891/hironx_ros_bridge/test/test_hironx.py#L494.

self.check_log_data(data, 6, 9, -135, -100.0)

means using data and index of 6, expected time is 9 sec and the angle moves from -135 to 100. This test fails when we rtc did not runs every 5 msec ???

[hironx_ros_bridge.rosunit-test_hironx/test_rarm_setJointAnglesOfGroup_Override_Acceleration][FAILURE]
File "/usr/lib/python2.7/unittest/case.py", line 327, in run
    testMethod()
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 494, in test_rarm_setJointAnglesOfGroup_Override_Acceleration
    self.check_log_data(data, 6, 9, -135, -100.0)
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 132, in check_log_data
    self.assertTrue(abs(_tm_data - tm_data) < tm_data*_tm_thre)
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 358, in assertTrue
    assert(a)
--------------------------------------------------------------------------------

[hironx_ros_bridge.rosunit-test_hironx/test_rarm_setJointAnglesOfGroup_minus][passed]
[hironx_ros_bridge.rosunit-test_hironx/test_rarm_setJointAngles_Clear][passed]
[hironx_ros_bridge.rosunit-test_hironx/test_rarm_setJointAngles_NoWait][passed]
[hironx_ros_bridge.rosunit-test_hironx/test_rarm_setJointAngles_Wait][passed]
[hironx_ros_bridge.rosunit-test_hironx_ik/test_ik_left][passed]
[hironx_ros_bridge.rosunit-test_hironx_ik/test_ik_right][passed]
[hironx_ros_bridge.rosunit-test_hironx_ik/test_set_target_pose][passed]

SUMMARY
[1;31m * RESULT: FAIL[0m
 * TESTS: 14
 * ERRORS: 0
[1;31m * FAILURES: 1[0m

</testsuite>
=== /home/travis/.ros/test_results/hironx_ros_bridge/rosunit-test_hironx.xml ===
<?xml version="1.0" encoding="utf-8"?>
<testsuite errors="0" failures="1" name="unittest.suite.TestSuite" tests="11" time="152.451">
  <testcase classname="__main__.TestHiro" name="testSetTargetPoseBothArm" time="8.2143"></testcase>
  <testcase classname="__main__.TestHiro" name="test_fullbody_setJointAngles_Clear" time="34.9962"></testcase>
  <testcase classname="__main__.TestHiro" name="test_fullbody_setJointAngles_NoWait" time="27.1437"></testcase>
  <testcase classname="__main__.TestHiro" name="test_fullbody_setJointAngles_Wait" time="5.4608"></testcase>
  <testcase classname="__main__.TestHiro" name="test_fullbody_setJointAngles_minus" time="5.1352"></testcase>
  <testcase classname="__main__.TestHiro" name="test_goInitial" time="2.4177"></testcase>
  <testcase classname="__main__.TestHiro" name="test_rarm_setJointAnglesOfGroup_Override_Acceleration" time="5.8956">
    <failure type="AssertionError">
  File "/usr/lib/python2.7/unittest/case.py", line 327, in run
    testMethod()
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 494, in test_rarm_setJointAnglesOfGroup_Override_Acceleration
    self.check_log_data(data, 6, 9, -135, -100.0)
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 132, in check_log_data
    self.assertTrue(abs(_tm_data - tm_data) &lt; tm_data*_tm_thre)
  File "/home/travis/ros/ws_rtmros_hironx/install/share/hironx_ros_bridge/test/test_hironx.py", line 358, in assertTrue
    assert(a)
    </failure>
  </testcase>
  <testcase classname="__main__.TestHiro" name="test_rarm_setJointAnglesOfGroup_minus" time="2.6168"></testcase>
  <testcase classname="__main__.TestHiro" name="test_rarm_setJointAngles_Clear" time="28.5729"></testcase>
  <testcase classname="__main__.TestHiro" name="test_rarm_setJointAngles_NoWait" time="22.7938"></testcase>
  <testcase classname="__main__.TestHiro" name="test_rarm_setJointAngles_Wait" time="6.7109"></testcase>
  <system-out><![CDATA[configuration ORB with  localhost : 2809

WORKAROUND: Wait and re-trigger travis, or improve test code

(travis) test_LArm/test_RArm, Arrays are not almost equal to 3 decimals

hironx_ros_bridge/test_LArm and hironx_ros_bridge/test_RArm report errors (https://github.com/start-jsk/rtmros_hironx/issues/191)

[hironx_ros_bridge.rosunit-test_hironx_ros_bridge/test_LArm][FAILURE]-----------
Arrays are not almost equal to 3 decimals

(mismatch 22.2222222222%)
 x: array([[  2.49888699e-03,   1.23574328e-03,  -9.99996114e-01],
       [  2.31512602e-04,   9.99999209e-01,   1.23632563e-03],
       [  9.99996851e-01,  -2.34601140e-04,   2.49859893e-03]])
 y: array([[ 0,  0, -1],
       [ 0,  1,  0],
       [ 1,  0,  0]])
  File "/usr/lib/python2.7/unittest/case.py", line 327, in run
    testMethod()
  File "/opt/ros/hydro/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py", line 185, in test_LArm
    [ 1, 0, 0]]), decimal=3)
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 800, in assert_array_almost_equal
    header=('Arrays are not almost equal to %d decimals' % decimal))
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 636, in assert_array_compare
    raise AssertionError(msg)
--------------------------------------------------------------------------------

[hironx_ros_bridge.rosunit-test_hironx_ros_bridge/test_LArmIK][passed]
[hironx_ros_bridge.rosunit-test_hironx_ros_bridge/test_RArm][FAILURE]-----------
Arrays are not almost equal to 3 decimals

(mismatch 22.2222222222%)
 x: array([[  2.49888699e-03,  -1.23574328e-03,  -9.99996114e-01],
       [ -2.31512602e-04,   9.99999209e-01,  -1.23632563e-03],
       [  9.99996851e-01,   2.34601140e-04,   2.49859893e-03]])
 y: array([[ 0,  0, -1],
       [ 0,  1,  0],
       [ 1,  0,  0]])
  File "/usr/lib/python2.7/unittest/case.py", line 327, in run
    testMethod()
  File "/opt/ros/hydro/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py", line 202, in test_RArm
    [ 1, 0, 0]]), decimal=3)
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 800, in assert_array_almost_equal
    header=('Arrays are not almost equal to %d decimals' % decimal))
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 636, in assert_array_compare
    raise AssertionError(msg)
--------------------------------------------------------------------------------

WORKAROUND: This has been fixed in 1.0.21, please report error to https://github.com/start-jsk/rtmros_hironx/issues

(rostest/rtmtest) test fails with corbaserver using port 15005

When rostest fails no matter what value you use in launch files, look at Environment Variables RTCTREE_NAMESERVERS, which might be most likely set as 15005 (hrpsys default). In that case re-define it as you want:

$ unset RTCTREE_NAMESERVERS
$ export RTCTREE_NAMESERVERS=localhost:2809

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For rtm-ros developers

Common build errors

(jenkins) [ERROR] Connection Failed with the Nameserver (hostname=localhost port=2809)

(travis) g++: internal compiler error: Killed (program cc1plus)

(travis) test RESULT: FAIL

(travis) test_LArm/test_RArm, Arrays are not almost equal to 3 decimals

(rostest/rtmtest) test fails with corbaserver using port 15005