[ros-users] socket-related error

Michael Krainin mkrainin at cs.washington.edu
Wed Jan 12 20:11:59 UTC 2011


Also possibly relevant is that I recently upgraded both machines to
Ubuntu 10.10 and also switched the second machine over to the ROS
Ubuntu packages instead of SVN. What were essentially the same nodes
worked before these changes.

-Mike


Author: Michael Krainin
Date: 2011-01-12 12:04 -800
To: ros-users
Subject: Re: [ros-users] socket-related error
Hi Ken,

The node on the second machine provides a service for computing
grasps. Upon receiving a request, it looks up the camera pose using a
tf TransformListener. It then calls a service on the first machine
which provides it with the table parameters, a point cloud of the
object to be grasped, and a point cloud of any obstacles on the table.
It then adds the points as a mesh into an openrave environment and
begins trying potential grasps.

It's around here that I get the error, though it's not always exactly
at the same point. Were it to continue, the node would eventually
select a grasp, plan a trajectory, and finally call a service back on
the first machine to run the trajectory.

-Mike


Author: Ken Conley
Date: 2011-01-12 11:352011-01-12 19:35 -800UTC
To: User discussions
Subject: Re: [ros-users] socket-related error
Hi Michael,

Can you describe more about the node on the second machine. The only
time I can recall seeing this was when rospy was coupled with Twisted,
which uses signals.

- Ken

On Wed, Jan 12, 2011 at 11:31 AM, Michael Krainin
<mkrainin at cs.washington.edu> wrote:
> Hi,
>
> I'm running into an error that I'm not sure how to fix and was wondering if
> anyone might have some insight into what's going wrong.
>
> I have roscore and a few nodes running on one machine. Then on a second
> machine is a node which interacts with nodes on the first machine through
> service calls. Everything seems to run fine for a while, then the node on
> the second machine dies with a message:
>
> Unhandled exception in thread started by <bound method TCPServer.run of
> <rospy.impl.tcpros_base.TCPServer object at 0x2fee1d0>>
> Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 141, in run
>     (client_sock, client_addr) = self.server_sock.accept()
>   File "/usr/lib/python2.6/socket.py", line 197, in accept
>     sock, addr = self._sock.accept()
> socket.error: [Errno 4] Interrupted system call
>
> Additionally, the log for this node includes the following messages:
>
> [INFO] 2011-01-12 10:43:14,691: signal_shutdown [error in XML-RPC server]
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [ERROR] 2011-01-12 10:43:14,692: Traceback (most recent call last):
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 593, in receive_once
>     recv_buff(sock, b, p.buff_size)
>   File "/opt/ros/cturtle/ros/core/rospy/src/rospy/impl/tcpros_base.py", line
> 93, in recv_buff
>     d = sock.recv(buff_size)
> error: [Errno 4] Interrupted system call
>
> [INFO] 2011-01-12 10:43:14,739: error in XML-RPC server
> [INFO] 2011-01-12 10:43:16,010: signal_shutdown [atexit]
>
> Any thoughts on where the problem might lie?
>
> Thanks,
> Mike
>
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> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
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