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 < >> matei@willowgarage.com> >> > 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 < >> aleeper@stanford.edu> >> >> >> >>> 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 > >