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 <
dang@cs.columbia.edu> 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 <watts@willowgarage.com> 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 <dang@cs.columbia.edu> 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 <matei@willowgarage.com>
>>> 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 <dang@cs.columbia.edu> 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 <dang@cs.columbia.edu>
>>>> >> 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
>>>> >> > <matei@willowgarage.com>
>>>> >> > 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 <dang@cs.columbia.edu>
>>>> >> >> wrote:
>>>> >> >> > By the way, we did not install fingertip sensor on the grippers.
>>>> >> >> >
>>>> >> >> > On Tue, Jul 13, 2010 at 2:53 PM, Hao Dang <dang@cs.columbia.edu>
>>>> >> >> > 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
>>>> >> >> >> <matei@willowgarage.com>
>>>> >> >> >> 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
>>
>
>
> _______________________________________________
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> ros-users@code.ros.org
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>
>
--
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780
(text/plain)