Hmm... this might be a deeper problem. I'll take a look on our robots here and get back to you. Matei On Tue, Jul 13, 2010 at 10:11 PM, Hao Dang wrote: > Hi Kevin, > Yes, I did this on a PR2 robot. > When this error was reported, I checked in ROS using >   rosrun pr2_controller_manager pr2_controller_manager list-joints > and saw the  r_gripper_joint was there in the list. > I will go and double check my procedure in the lab first thing tomorrow > morning. > > Thank you very much!  That will be a very useful pipeline! > Hao > On Tue, Jul 13, 2010 at 9:50 PM, Kevin Watts wrote: >> >> Hao- >>    Was this on a PR2? If it was, you should file a ticket at >> support.willowgarage.com. If it was in gazebo, check to make sure you're >> launching the right program. >> >> Kevin >> >> On Tue, Jul 13, 2010 at 9:37 PM, Hao Dang wrote: >>> >>> Oh, I missed that!  Cool!  Now the pipeline starts smoothly.  It can now >>> detect objects. >>> >>> When the robot is asked to pick up an object, it could not go through the >>> trajectory planning.  It failed saying >>> >>> [ERROR] [1279068281.779713681]: Joint 'r_gripper_joint' not found >>> [pr2_right_arm_kinematics-10] process has died [pid 23164, exit code >>> -11]. >>> log files: >>> /u/dah1pal/.ros/log/3451ac2c-8ec8-11df-ac12-001517becadf/pr2_right_arm_kinematics-10*.log >>> >>> Probably there is something incorrect with my launching the program? >>> I haven't had time to delve into the code and I will also look into the >>> code more tomorrow. >>> Thank you so much! >>> Hao >>> >>> >>> On Tue, Jul 13, 2010 at 5:14 PM, Matei Ciocarlie >>> wrote: >>>> >>>> Hi Hao, >>>> >>>> Try starting the pick_and_place_keyboard_interface using its launch >>>> file: >>>> >>>> roslaunch pr2_pick_and_place_demos >>>> pick_and_place_keyboard_interface.launch >>>> >>>> Matei >>>> >>>> On Tue, Jul 13, 2010 at 4:41 PM, Hao Dang wrote: >>>> > Yes, I did several check-outs today and saw the versions changed.  I >>>> > just >>>> > checked out the most recent version.  The problem seemed disappear. >>>> > Thank >>>> > you for making this out so fast. >>>> > >>>> > However, sorry to use this word, after I rosrun >>>> > pr2_pick_and_place_demos >>>> > pick_and_place_keyboard_interface, >>>> > >>>> > When I tried to move the right arm to the side, I got >>>> > [ INFO] [1279063864.999954115]: waitForService: Service >>>> > [/right_arm/get_ik_solver_info] has not been advertised, waiting... >>>> > >>>> > When I tried to close the gripper on the right arm, I got >>>> > [ INFO] [1279063889.385763753]: Waiting for action client >>>> > right_arm/hand_posture_execution, remapped to >>>> > /right_arm/hand_posture_execution >>>> > >>>> > I checked rostopic list, and there is NO such a topic called >>>> > /right_arm/... >>>> > Maybe there is some other update missing? >>>> > >>>> > The ROS we are using on the PR2 is now 1.1.14 >>>> > >>>> > The svn info inside object_manipulation stack gave me >>>> > >>>> >   URL: >>>> > https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/trunk >>>> >   Repository Root: https://code.ros.org/svn/wg-ros-pkg >>>> >   Repository UUID: 7275ad9f-c29b-430a-bdc5-66f4b3af1622 >>>> >   Revision: 40906 >>>> >   Node Kind: directory >>>> >   Schedule: normal >>>> >   Last Changed Author: kaijenhsiao >>>> >   Last Changed Rev: 40851 >>>> >   Last Changed Date: 2010-07-12 22:13:18 -0700 (Mon, 12 Jul 2010) >>>> > >>>> > >>>> > Thank you! >>>> > >>>> > Hao >>>> > >>>> > >>>> > On Tue, Jul 13, 2010 at 4:22 PM, Matei Ciocarlie >>>> > >>>> > wrote: >>>> >> >>>> >> I assume you checked out those stacks from trunk - we are currently >>>> >> pushing hard to get to the 0.2 release, so trunk might be >>>> >> occasionally >>>> >> unstable. Thanks for checking it out, it will help us weed out >>>> >> problems for the 0.2 release, which is (optimistically) programmed >>>> >> for >>>> >> the end of this week. >>>> >> >>>> >> Just to be sure, if you do an svn info in object_manipulation, what >>>> >> do you >>>> >> get? >>>> >> >>>> >> Anyway, we think we have fixed the problem you were having, could you >>>> >> please svn update in all those stacks and try again? >>>> >> >>>> >> Matei >>>> >> >>>> >> On Tue, Jul 13, 2010 at 4:16 PM, Hao Dang >>>> >> wrote: >>>> >> > Hi Matei, >>>> >> > >>>> >> > Basically what I did is >>>> >> > >>>> >> > checked out all the following stacks >>>> >> > >>>> >> > slipgrip_controller, >>>> >> > object_manipulation, >>>> >> > sql_database, >>>> >> > pr2_object_manipulation, >>>> >> > tabletop_object_perception, >>>> >> > pr2_tabletop_manipulation_apps >>>> >> > pr2_gripper_fingersensor_action >>>> >> > >>>> >> > I did not use rosinstall.  All of the stacks above are overlayed on >>>> >> > the >>>> >> > other stacks. >>>> >> > >>>> >> > Was there anything not correct in the installation? >>>> >> > >>>> >> > >>>> >> > PS: >>>> >> > >>>> >> > And this brings me to thinking of another similar problem we met >>>> >> > here >>>> >> > running the ICRA manipulation pipeline code. >>>> >> > >>>> >> > When the robot is trying to grasp an object, it goes to its >>>> >> > pre-grasp >>>> >> > successfully.  But SOMETIMES, at that point, it stops and waits for >>>> >> > some >>>> >> > action client.   Sometimes, it continues to the final grasp pose >>>> >> > and >>>> >> > executes the grasp.  Following is the action client it is waiting >>>> >> > for. >>>> >> > >>>> >> >     [ INFO] [1279059104.753304766]: Waiting for action client: >>>> >> > r_arm_controller/joint_trajectory_action >>>> >> > >>>> >> > Also, we checked the rostopic and we found this action. >>>> >> > >>>> >> > I am not sure whether these two situations are very related or not. >>>> >> > >>>> >> > >>>> >> > Hao >>>> >> > >>>> >> > >>>> >> > >>>> >> > >>>> >> > >>>> >> > On Tue, Jul 13, 2010 at 4:02 PM, Matei Ciocarlie >>>> >> > >>>> >> > wrote: >>>> >> >> >>>> >> >> Hi Hao, >>>> >> >> >>>> >> >> Are you using the overlay file (manipulation stacks from trunk) or >>>> >> >> just the cturtle install (manipulation stacks at version 0.1)? >>>> >> >> >>>> >> >> Matei >>>> >> >> >>>> >> >> On Tue, Jul 13, 2010 at 2:57 PM, Hao Dang >>>> >> >> wrote: >>>> >> >> > By the way, we did not install fingertip sensor on the grippers. >>>> >> >> > >>>> >> >> > On Tue, Jul 13, 2010 at 2:53 PM, Hao Dang >>>> >> >> > wrote: >>>> >> >> >> >>>> >> >> >> Hi Matei, >>>> >> >> >> >>>> >> >> >> I checked out the most recent code from the repository.  They >>>> >> >> >> compiled >>>> >> >> >> smoothly.  But when I ran >>>> >> >> >> >>>> >> >> >>     roslaunch pr2_tabletop_manipulation_launch >>>> >> >> >> pr2_tabletop_manipulation.launch >>>> >> >> >> >>>> >> >> >> The program suspended and waits for some action client to be >>>> >> >> >> there. >>>> >> >> >> Following are the ROS_INFO printed out. >>>> >> >> >> >>>> >> >> >>     [INFO] 1279057792.398460: controller manager: waiting for >>>> >> >> >> l_gripper_fingersensor_controller/gripper_action to be there >>>> >> >> >>     [INFO] 1279057667.219776: controller manager: waiting for >>>> >> >> >> r_gripper_fingersensor_controller/gripper_action to be there >>>> >> >> >> >>>> >> >> >> I checked by >>>> >> >> >> >>>> >> >> >>     rostopic list | grep l_gripper >>>> >> >> >> >>>> >> >> >> and found there are topics for the actions mentioned above. >>>> >> >> >> Following >>>> >> >> >> are >>>> >> >> >> just part of the output related to the specific topic >>>> >> >> >> >>>> >> >> >>     /r_gripper_fingersensor_controller/gripper_action/cancel >>>> >> >> >>     /r_gripper_fingersensor_controller/gripper_action/feedback >>>> >> >> >>     /r_gripper_fingersensor_controller/gripper_action/goal >>>> >> >> >>     /r_gripper_fingersensor_controller/gripper_action/result >>>> >> >> >>     /r_gripper_fingersensor_controller/gripper_action/status >>>> >> >> >> >>>> >> >> >> Do you have any idea of what we should explore to solve this? >>>> >> >> >> Thanks, >>>> >> >> >> >>>> >> >> >> Hao >>>> >> >> >> >>>> >> >> >> >>>> >> >> >> On Mon, Jul 12, 2010 at 10:28 AM, Matei Ciocarlie >>>> >> >> >> >>>> >> >> >> wrote: >>>> >> >> >>> >>>> >> >> >>> Hi Adam, >>>> >> >> >>> >>>> >> >> >>> The entire grasping pipeline has undergone significant >>>> >> >> >>> rewriting in >>>> >> >> >>> preparation for release. We are hoping to do an 0.2 release of >>>> >> >> >>> it >>>> >> >> >>> at >>>> >> >> >>> the end of this week, complete with documentation, a stable >>>> >> >> >>> API, >>>> >> >> >>> etc. >>>> >> >> >>> >>>> >> >> >>> In the meantime, if you wanted to be an "early adopter" and >>>> >> >> >>> check >>>> >> >> >>> out >>>> >> >> >>> the 0.1 version that would be great, as your feedback would >>>> >> >> >>> help us >>>> >> >> >>> for 0.2. You can get the most up to date version using the >>>> >> >> >>> following >>>> >> >> >>> .rosinstall overlay file: >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall >>>> >> >> >>> >>>> >> >> >>> To use an overlay file, you would first do a normal ROS >>>> >> >> >>> insallation >>>> >> >> >>> (of cturtle in this case), then use the overlay file like >>>> >> >> >>> this: >>>> >> >> >>> >>>> >> >> >>> rosinstall target_directory overlay_file_path >>>> >> >> >>> >>>> >> >> >>> And be sure to prepend the target directory to your >>>> >> >> >>> ROS_PACKAGE_PATH >>>> >> >> >>> >>>> >> >> >>> To start the manipulation pipeline, use >>>> >> >> >>> >>>> >> >> >>> roslaunch pr2_tabletop_manipulation_launch >>>> >> >> >>> pr2_tabletop_manipulation.launch >>>> >> >> >>> >>>> >> >> >>> There is no documentation on the wiki yet (we are writing it >>>> >> >> >>> this >>>> >> >> >>> week) but the code itself is well documented. You can get an >>>> >> >> >>> idea >>>> >> >> >>> of >>>> >> >> >>> how to run it bu looking in the package >>>> >> >> >>> pr2_pick_and_place_demos, >>>> >> >> >>> which contains both Python and C++ examples. >>>> >> >> >>> >>>> >> >> >>> Let me know if you have any questions, we'll be glad to assist >>>> >> >> >>> you. >>>> >> >> >>> >>>> >> >> >>> Matei >>>> >> >> >>> >>>> >> >> >>> On Sat, Jul 10, 2010 at 2:24 PM, Adam Leeper >>>> >> >> >>> >>>> >> >> >>> wrote: >>>> >> >> >>> > Hi- >>>> >> >> >>> > I was trying to follow this tutorial to grab things in >>>> >> >> >>> > >>>> >> >> >>> > >>>> >> >> >>> > >>>> >> >> >>> > >>>> >> >> >>> > simulation: http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline >>>> >> >> >>> > but it seems the names of the packages have changed (I >>>> >> >> >>> > realize >>>> >> >> >>> > that >>>> >> >> >>> > tutorial >>>> >> >> >>> > was last edited February 4th...). Anyway, I found the >>>> >> >> >>> > pr2_arm_navigation >>>> >> >> >>> > stack but can't seem to find anything directly related to >>>> >> >> >>> > what is >>>> >> >> >>> > referenced >>>> >> >> >>> > in the tutorial. >>>> >> >> >>> > I realize the whole stack is probably still going through a >>>> >> >> >>> > lot >>>> >> >> >>> > of >>>> >> >> >>> > changes, >>>> >> >> >>> > but do the launch files from that tutorial still exist in >>>> >> >> >>> > some >>>> >> >> >>> > form? >>>> >> >> >>> > What is >>>> >> >> >>> > the "easy" way of trying out some basic grasping? >>>> >> >> >>> > Thanks, >>>> >> >> >>> > Adam >>>> >> >> >>> > >>>> >> >> >>> > >>>> >> >> >>> > Adam Leepercoffee >>>> >> >> >>> > Stanford University >>>> >> >> >>> > aleeper@stanford.edu >>>> >> >> >>> > 719.358.3804 >>>> >> >> >>> > >>>> >> >> >>> > _______________________________________________ >>>> >> >> >>> > ros-users mailing list >>>> >> >> >>> > ros-users@code.ros.org >>>> >> >> >>> > https://code.ros.org/mailman/listinfo/ros-users >>>> >> >> >>> > >>>> >> >> >>> > >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> >>>> >> >> >>> -- >>>> >> >> >>> Matei Ciocarlie >>>> >> >> >>> Research Scientist >>>> >> >> >>> Willow Garage Inc. >>>> >> >> >>> 650-475-9780 >>>> >> >> >>> _______________________________________________ >>>> >> >> >>> ros-users mailing list >>>> >> >> >>> ros-users@code.ros.org >>>> >> >> >>> https://code.ros.org/mailman/listinfo/ros-users >>>> >> >> >> >>>> >> >> > >>>> >> >> > >>>> >> >> > _______________________________________________ >>>> >> >> > ros-users mailing list >>>> >> >> > ros-users@code.ros.org >>>> >> >> > https://code.ros.org/mailman/listinfo/ros-users >>>> >> >> > >>>> >> >> > >>>> >> >> >>>> >> >> >>>> >> >> >>>> >> >> -- >>>> >> >> Matei Ciocarlie >>>> >> >> Research Scientist >>>> >> >> Willow Garage Inc. >>>> >> >> 650-475-9780 >>>> >> >> _______________________________________________ >>>> >> >> ros-users mailing list >>>> >> >> ros-users@code.ros.org >>>> >> >> https://code.ros.org/mailman/listinfo/ros-users >>>> >> > >>>> >> > >>>> >> > _______________________________________________ >>>> >> > ros-users mailing list >>>> >> > ros-users@code.ros.org >>>> >> > https://code.ros.org/mailman/listinfo/ros-users >>>> >> > >>>> >> > >>>> >> >>>> >> >>>> >> >>>> >> -- >>>> >> Matei Ciocarlie >>>> >> Research Scientist >>>> >> Willow Garage Inc. >>>> >> 650-475-9780 >>>> >> _______________________________________________ >>>> >> ros-users mailing list >>>> >> ros-users@code.ros.org >>>> >> https://code.ros.org/mailman/listinfo/ros-users >>>> > >>>> > >>>> > _______________________________________________ >>>> > ros-users mailing list >>>> > ros-users@code.ros.org >>>> > https://code.ros.org/mailman/listinfo/ros-users >>>> > >>>> > >>>> >>>> >>>> >>>> -- >>>> Matei Ciocarlie >>>> Research Scientist >>>> Willow Garage Inc. >>>> 650-475-9780 >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Matei Ciocarlie Research Scientist Willow Garage Inc. 650-475-9780