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 < >>> 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 >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >