[ros-users] object grasping pipeline and tutorials
Adam Leeper
aleeper at stanford.edu
Tue Jul 20 17:41:36 UTC 2010
Hi-
I thought the use_database = false tag was working, but now I overlayed all
the packages on a pr2 and tried running things and I get the following
errors. I made sure cturtle is up-to-date on the robot and rebuilt all the
overlaid packages...
It's possible that yesterday when I set the tag to false on my other machine
it didn't use the database but it still tried opening it, and since the
database was there it didn't error.
Let me know if there is something else you want me to try!
Thanks,
--Adam
roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch
... starting nodes and stuff ...
[ERROR] [1279646973.224113559]: Database connection failed with error
message: could not translate host name "wgs36" to address: Name or service
not known
[ WARN] [1279646973.224312377]: Tabletop collision map processing: failed to
open model database on host wgs36, port 5432, user willow with password
willow, database household_objects. Unable to service requests for database
objects.
... some more start-up stuff ...
[c2-0]: ROS_MASTER_URI=http://stair4a:11311/
[INFO] 1279646975.940272: controller manager:
r_arm_controller/joint_trajectory_action found
[INFO] 1279646975.941281: controller manager: waiting for
r_gripper_controller/gripper_action to be there
[c2-0]: process[scan_to_cloud_filter_chain_tilt_laser-1]: started with pid
[25793]
[ERROR] [1279646976.021003651]: Database connection failed with error
message: could not translate host name "wgs36" to address: Name or service
not known
[ERROR] [1279646976.021435053]: Database-backed grasp planner: failed to
open model database on host wgs36, port 5432, user willow with password
willow, database household_objects. Unable to do grasp planning on database
recognized objects. Exiting.
[FATAL] [1279646976.021625251]: BREAKPOINT HIT
file =
/u/aleeper/ros/overlays/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp
line=196
[c2-0]: process[laser_clear_objects-2]: started with pid [25794]
[grasp_planner_database-17] process has died [pid 26671, exit code -5].
log files:
/u/aleeper/.ros/log/30397cca-9420-11df-8e24-001517c01bcb/grasp_planner_database-17*.log
... some more start-up stuff ...
... And then the whole launch stalls with this error:
[INFO] 1279646983.220165: done loading controllers
[INFO] 1279646983.220894: controller manager: waiting for
l_arm_cartesian_trajectory_controller/check_moving to be there
Traceback (most recent call last):
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py",
line 266, in <module>
reactive_grasp_services = ReactiveGraspActionServer(which_arm)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py",
line 125, in __init__
self.cm = controller_manager.ControllerManager(which_arm,
using_slip_controller = self.use_slip_controller)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py",
line 323, in __init__
self.wait_for_service(cartesian_check_moving_name)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py",
line 368, in wait_for_service
except ROSException:
NameError: global name 'ROSException' is not defined
Traceback (most recent call last):
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py",
line 266, in <module>
reactive_grasp_services = ReactiveGraspActionServer(which_arm)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py",
line 125, in __init__
self.cm = controller_manager.ControllerManager(which_arm,
using_slip_controller = self.use_slip_controller)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py",
line 323, in __init__
self.wait_for_service(cartesian_check_moving_name)
File
"/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py",
line 368, in wait_for_service
except ROSException:
NameError: global name 'ROSException' is not defined
it's really weird to me that ROSException would be undefined...
Adam Leeper
Stanford University
aleeper at stanford.edu
719.358.3804
On Thu, Jul 15, 2010 at 4:31 PM, Matei Ciocarlie <matei at willowgarage.com>wrote:
> Yes, those two nodes also need to know not to use the database. I'll
> think of a better way to put those flags in and put a fix in tomorrow.
>
> Thanks for catching these.
>
> Matei
>
> On Thu, Jul 15, 2010 at 3:42 PM, Hai Nguyen <haidai at gmail.com> wrote:
> > 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
> >>> >> ros-users at code.ros.org
> >>> >> https://code.ros.org/mailman/listinfo/ros-users
> >>> >>
> >>> >>
> >>> >
> >>> >
> >>> >
> >>> > --
> >>> > 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
> >>
> >>
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> >>
> >
> >
> >
> > --
> > Hai Nguyen
> > CS, Robotics
> > _______________________________________________
> > 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
>
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