[ros-users] object grasping pipeline and tutorials

Kaijen Hsiao hsiao at willowgarage.com
Tue Jul 20 21:44:53 UTC 2010 

Matei will have to say what the database errors are about, but as for
the ROSException error, that was a bug on my part--it should have read
rospy.ROSException.  Thanks for catching that.  Let me know if you
continue to have problems--the check moving service it was waiting for
more than 5 seconds for really should have been there.

-Kaijen


On Tue, Jul 20, 2010 at 10:41 AM, Adam Leeper <aleeper at stanford.edu> wrote:
> 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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