Hi Ken,

The node on the second machine provides a service for computing
grasps. Upon receiving a request, it looks up the camera pose using a
tf TransformListener. It then calls a service on the first machine
which provides it with the table parameters, a point cloud of the
object to be grasped, and a point cloud of any obstacles on the table.
It then adds the points as a mesh into an openrave environment and
begins trying potential grasps.

It's around here that I get the error, though it's not always exactly
at the same point. Were it to continue, the node would eventually
select a grasp, plan a trajectory, and finally call a service back on
the first machine to run the trajectory.

-Mike


Author: Ken Conley
Date: 2011-01-12 11:352011-01-12 19:35 -800UTC
To: User discussions
Subject: Re: [ros-users] socket-related error
Hi Michael,

Can you describe more about the node on the second machine. The only
time I can recall seeing this was when rospy was coupled with Twisted,
which uses signals.

- Ken

On Wed, Jan 12, 2011 at 11:31 AM, Michael Krainin
<mkrainin@cs.washington.edu> wrote:
> Hi,
>
> I'm running into an error that I'm not sure how to fix and was wondering if
> anyone might have some insight into what's going wrong.
>
> I have roscore and a few nodes running on one machine. Then on a second
> machine is a node which interacts with nodes on the first machine through
> service calls. Everything seems to run fine for a while, then the node on
> the second machine dies with a message:
>
> Unhandled exception in thread started by <bound method TCPServer.run of
> <rospy.impl.tcpros_base.TCPServer object at 0x2fee1d0>>
> Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 141, in run
>     (client_sock, client_addr) = self.server_sock.accept()
>   File "/usr/lib/python2.6/socket.py", line 197, in accept
>     sock, addr = self._sock.accept()
> socket.error: [Errno 4] Interrupted system call
>
> Additionally, the log for this node includes the following messages:
>
> [INFO] 2011-01-12 10:43:14,691: signal_shutdown [error in XML-RPC server]
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [INFO] 2011-01-12 10:43:14,739: error in XML-RPC server
> [INFO] 2011-01-12 10:43:16,010: signal_shutdown [atexit]
>
> Any thoughts on where the problem might lie?
>
> Thanks,
> Mike
>
> _______________________________________________
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> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
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