[ros-users] object grasping pipeline and tutorials

Hai Nguyen haidai at gmail.com
Thu Jul 15 22:42:48 UTC 2010 

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 <aleeper at stanford.edu> 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 at stanford.edu
> 719.358.3804
>
>
> On Wed, Jul 14, 2010 at 3:52 PM, Matei Ciocarlie <matei at willowgarage.com>
> 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 <matei at willowgarage.com>
>> 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 <aleeper at stanford.edu>
>> > 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 at stanford.edu
>> >> 719.358.3804
>> >>
>> >>
>> >> On Mon, Jul 12, 2010 at 10:28 AM, Matei Ciocarlie
>> >> <matei at 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 at 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 at stanford.edu
>> >>> > 719.358.3804
>> >>> >
>> >>> > _______________________________________________
>> >>> > ros-users mailing list
>> >>> > ros-users at 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 at code.ros.org
>> >>> https://code.ros.org/mailman/listinfo/ros-users
>> >>
>> >>
>> >> _______________________________________________
>> >> ros-users mailing list
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>> >>
>> >>
>> >
>> >
>> >
>> > --
>> > 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 at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>
>
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-- 
Hai Nguyen
CS, Robotics

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