Matei will have to say what the database errors are about, but as for the ROSException error, that was a bug on my part--it should have read rospy.ROSException. Thanks for catching that. Let me know if you continue to have problems--the check moving service it was waiting for more than 5 seconds for really should have been there. -Kaijen On Tue, Jul 20, 2010 at 10:41 AM, Adam Leeper wrote: > Hi- > > I thought the use_database = false tag was working, but now I overlayed all > the packages on a pr2 and tried running things and I get the following > errors. I made sure cturtle is up-to-date on the robot and rebuilt all the > overlaid packages... > > It's possible that yesterday when I set the tag to false on my other machine > it didn't use the database but it still tried opening it, and since the > database was there it didn't error. > > Let me know if there is something else you want me to try! > > Thanks, > --Adam > > > roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch > > ... starting nodes and stuff ... > > [ERROR] [1279646973.224113559]: Database connection failed with error > message: could not translate host name "wgs36" to address: Name or service > not known > > [ WARN] [1279646973.224312377]: Tabletop collision map processing: failed to > open model database on host wgs36, port 5432, user willow with password > willow, database household_objects. Unable to service requests for database > objects. > > > ... some more start-up stuff ... > > > [c2-0]: ROS_MASTER_URI=http://stair4a:11311/ > [INFO] 1279646975.940272: controller manager: > r_arm_controller/joint_trajectory_action found > [INFO] 1279646975.941281: controller manager: waiting for > r_gripper_controller/gripper_action to be there > [c2-0]: process[scan_to_cloud_filter_chain_tilt_laser-1]: started with pid > [25793] > [ERROR] [1279646976.021003651]: Database connection failed with error > message: could not translate host name "wgs36" to address: Name or service > not known > > [ERROR] [1279646976.021435053]: Database-backed grasp planner: failed to > open model database on host wgs36, port 5432, user willow with password > willow, database household_objects. Unable to do grasp planning on database > recognized objects. Exiting. > [FATAL] [1279646976.021625251]: BREAKPOINT HIT > file = > /u/aleeper/ros/overlays/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp > line=196 > > [c2-0]: process[laser_clear_objects-2]: started with pid [25794] > [grasp_planner_database-17] process has died [pid 26671, exit code -5]. > log files: > /u/aleeper/.ros/log/30397cca-9420-11df-8e24-001517c01bcb/grasp_planner_database-17*.log > > > ... some more start-up stuff ... > ... And then the whole launch stalls with this error: > > > [INFO] 1279646983.220165: done loading controllers > [INFO] 1279646983.220894: controller manager: waiting for > l_arm_cartesian_trajectory_controller/check_moving to be there > Traceback (most recent call last): > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", > line 266, in > reactive_grasp_services = ReactiveGraspActionServer(which_arm) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", > line 125, in __init__ > self.cm = controller_manager.ControllerManager(which_arm, > using_slip_controller = self.use_slip_controller) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", > line 323, in __init__ > self.wait_for_service(cartesian_check_moving_name) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", > line 368, in wait_for_service > except ROSException: > NameError: global name 'ROSException' is not defined > Traceback (most recent call last): > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", > line 266, in > reactive_grasp_services = ReactiveGraspActionServer(which_arm) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", > line 125, in __init__ > self.cm = controller_manager.ControllerManager(which_arm, > using_slip_controller = self.use_slip_controller) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", > line 323, in __init__ > self.wait_for_service(cartesian_check_moving_name) > File > "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", > line 368, in wait_for_service > except ROSException: > NameError: global name 'ROSException' is not defined > > > it's really weird to me that ROSException would be undefined... > > > > > > > > > > > > Adam Leeper > Stanford University > aleeper@stanford.edu > 719.358.3804 > > > On Thu, Jul 15, 2010 at 4:31 PM, Matei Ciocarlie > wrote: >> >> Yes, those two nodes also need to know not to use the database. I'll >> think of a better way to put those flags in and put a fix in tomorrow. >> >> Thanks for catching these. >> >> Matei >> >> On Thu, Jul 15, 2010 at 3:42 PM, Hai Nguyen wrote: >> > I seem to have the same issue. >> > >> > [ERROR] [1279233614.830963377]: Database connection failed with error >> > message: could not translate host name "wgs36" to address: Name or >> > service not known >> > >> > [ERROR] [1279233614.831115827]: Failed to open model database on host >> > wgs36, port 5432, user willow with password willow, database models >> > [FATAL] [1279233614.831195432]: BREAKPOINT HIT >> > file = >> > /u/haidai/svn/grasping_pipeline/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp >> > line=194 >> > >> > [grasp_planner_database-17] process has died [pid 9673, exit code -5]. >> > log files: >> > /u/haidai/.ros/log/37988d08-9060-11df-b494-001517c01a67/grasp_planner_database-17*.log >> > [ INFO] [1279233615.002299804]: Waiting for map ... >> > >> > On Thu, Jul 15, 2010 at 6:34 PM, Adam Leeper >> > wrote: >> >> Hi Matei, >> >> >> >> When I run >> >> roslaunch pr2_tabletop_manipulation_launch >> >> pr2_tabletop_manipulation.launch >> >> >> >> even though I changed the use_database parameter to false, this error >> >> still >> >> pops up each time during the launch. >> >> >> >> [ERROR] [674.702000000]: Database connection failed with error message: >> >> could not translate host name "wgs36" to address: Name or service not >> >> known >> >> >> >> [ERROR] [674.702000000]: Failed to open model database on host wgs36, >> >> port >> >> 5432, user willow with password willow, database models >> >> [FATAL] [674.702000000]: BREAKPOINT HIT >> >> file = >> >> >> >> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_collision_map_processing/nodes/tabletop_collision_map_processing_node.cpp >> >> line=173 >> >> >> >> [tabletop_collision_map_processing-36] process has died [pid 31557, >> >> exit >> >> code -5]. >> >> log files: >> >> >> >> /home/aleeper/.ros/log/9acfc274-905b-11df-8f09-002354971365/tabletop_collision_map_processing-36*.log >> >> >> >> >> >> >> >> >> >> And a result, when I try to run the pick_and_place keyboard demo it >> >> gets >> >> stuck here: >> >> >> >> [ INFO] [713.141000000]: waitForService: Service >> >> [/tabletop_collision_map_processing/tabletop_collision_map_processing] >> >> has >> >> not been advertised, waiting... >> >> >> >> >> >> Do some of the other nodes also need to know that the database is not >> >> being >> >> used? >> >> >> >> Thanks, >> >> Adam >> >> >> >> >> >> >> >> >> >> Adam Leeper >> >> Stanford University >> >> aleeper@stanford.edu >> >> 719.358.3804 >> >> >> >> >> >> On Wed, Jul 14, 2010 at 3:52 PM, Matei Ciocarlie >> >> >> >> wrote: >> >>> >> >>> Added some fixes to trunk. Thanks for the feedback, it is really >> >>> useful as we prepare the (hopefully) stable 0.2 release. >> >>> >> >>> Adam: there is now a parameter in pr2_tabletop_manipulation.launch: >> >>> when starting the tabletop_object_detector node, set use_database to >> >>> false and nobody should ever complain about a missing database >> >>> connection. >> >>> >> >>> Hao: the problem you were having was actually a fairly deep bug, >> >>> should be resolved now.. >> >>> >> >>> Matei >> >>> >> >>> On Wed, Jul 14, 2010 at 9:28 AM, Matei Ciocarlie >> >>> >> >>> wrote: >> >>> > In order to use the database of models, and thus attempt object >> >>> > recognition and execution of precomputed grasps, you need access to >> >>> > a >> >>> > database server. Our server at Willow is currently behind the >> >>> > firewall, which is why you can not connect to it. We are hoping to >> >>> > fix >> >>> > this next week, along with 0.2 release. >> >>> > >> >>> > For now, there are two options: >> >>> > 1) you can install the database on one of your local machines (or >> >>> > even on the robot itself). You can find instructions for installing >> >>> > a >> >>> > PostgreSQL server on a ubuntu machine here: >> >>> > >> >>> > >> >>> > >> >>> > http://www.ros.org/wiki/icra_manipulation_demo/Tutorials/Install%20the%20model%20database%20server%20on%20a%20new%20robot >> >>> > >> >>> > after you are done with the installation of the server, let me know >> >>> > and I will provide the database backup file. >> >>> > >> >>> > 2) do not perform object recognition and grasp objects as unknown >> >>> > point clusters. I need to put in a flag somewhere in the detection >> >>> > code so that if the database is not present, it will just default to >> >>> > this other option instead of crashing. I will do that later today. >> >>> > >> >>> > Matei >> >>> > >> >>> > On Wed, Jul 14, 2010 at 9:04 AM, Adam Leeper >> >>> > wrote: >> >>> >> I tried this and got these errors. Am I missing some files you have >> >>> >> there >> >>> >> locally? >> >>> >> process[tabletop_node-35]: started with pid [8301] >> >>> >> [ERROR] [WallTime: 1279072996.735706295]: Database connection >> >>> >> failed >> >>> >> with >> >>> >> error message: could not connect to server: Connection refused >> >>> >> Is the server running on host "localhost" and accepting >> >>> >> TCP/IP connections on port 5432? >> >>> >> could not connect to server: Connection refused >> >>> >> Is the server running on host "localhost" and accepting >> >>> >> TCP/IP connections on port 5432? >> >>> >> [ERROR] [69.915000000]: Failed to open model database on host >> >>> >> localhost, >> >>> >> port 5432, user willow with password willow, database models >> >>> >> [FATAL] [69.915000000]: BREAKPOINT HIT >> >>> >> file = >> >>> >> >> >>> >> >> >>> >> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp >> >>> >> line=241 >> >>> >> [tabletop_node-35] process has died [pid 8301, exit code -5]. >> >>> >> >> >>> >> >> >>> >> Adam Leeper >> >>> >> Stanford University >> >>> >> aleeper@stanford.edu >> >>> >> 719.358.3804 >> >>> >> >> >>> >> >> >>> >> 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 >> >>> > >> >>> >> >>> >> >>> >> >>> -- >> >>> 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 >> >> >> >> >> > >> > >> > >> > -- >> > Hai Nguyen >> > CS, Robotics >> > _______________________________________________ >> > 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 > >