Hi-<br><br>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...<br>
<br>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.<br><br>Let me know if there is something else you want me to try!<br>
<br>Thanks,<br>--Adam<br><br><br>roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch <br><br>... starting nodes and stuff ...<br><br>[ERROR] [1279646973.224113559]: Database connection failed with error message: could not translate host name "wgs36" to address: Name or service not known<br>
<br>[ 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.<br>
<br><br>... some more start-up stuff ...<br><br><br>[c2-0]: ROS_MASTER_URI=<a href="http://stair4a:11311/">http://stair4a:11311/</a><br>[INFO] 1279646975.940272: controller manager: r_arm_controller/joint_trajectory_action found<br>
[INFO] 1279646975.941281: controller manager: waiting for r_gripper_controller/gripper_action to be there<br>[c2-0]: process[scan_to_cloud_filter_chain_tilt_laser-1]: started with pid [25793]<br>[ERROR] [1279646976.021003651]: Database connection failed with error message: could not translate host name "wgs36" to address: Name or service not known<br>
<br>[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.<br>
[FATAL] [1279646976.021625251]: BREAKPOINT HIT<br> file = /u/aleeper/ros/overlays/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp<br> line=196<br><br>[c2-0]: process[laser_clear_objects-2]: started with pid [25794]<br>
[grasp_planner_database-17] process has died [pid 26671, exit code -5].<br>log files: /u/aleeper/.ros/log/30397cca-9420-11df-8e24-001517c01bcb/grasp_planner_database-17*.log<br><br><br>... some more start-up stuff ...<br>
... And then the whole launch stalls with this error: <br><br><br>[INFO] 1279646983.220165: done loading controllers<br>[INFO] 1279646983.220894: controller manager: waiting for l_arm_cartesian_trajectory_controller/check_moving to be there<br>
Traceback (most recent call last):<br> File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", line 266, in <module><br> reactive_grasp_services = ReactiveGraspActionServer(which_arm)<br>
File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", line 125, in __init__<br> <a href="http://self.cm">self.cm</a> = controller_manager.ControllerManager(which_arm, using_slip_controller = self.use_slip_controller)<br>
File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", line 323, in __init__<br> self.wait_for_service(cartesian_check_moving_name) <br>
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<br> except ROSException:<br>NameError: global name 'ROSException' is not defined<br>
Traceback (most recent call last):<br> File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", line 266, in <module><br> reactive_grasp_services = ReactiveGraspActionServer(which_arm)<br>
File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", line 125, in __init__<br> <a href="http://self.cm">self.cm</a> = controller_manager.ControllerManager(which_arm, using_slip_controller = self.use_slip_controller)<br>
File "/u/aleeper/ros/overlays/pr2_object_manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py", line 323, in __init__<br> self.wait_for_service(cartesian_check_moving_name) <br>
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<br> except ROSException:<br>NameError: global name 'ROSException' is not defined<br>
<br><br>it's really weird to me that ROSException would be undefined...<br><br><br><br><br><br><br><br><br><br><br><br clear="all">Adam Leeper<br>Stanford University<br><a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a><br>
719.358.3804<br>
<br><br><div class="gmail_quote">On Thu, Jul 15, 2010 at 4:31 PM, Matei Ciocarlie <span dir="ltr"><<a href="mailto:matei@willowgarage.com" target="_blank">matei@willowgarage.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Yes, those two nodes also need to know not to use the database. I'll<br>
think of a better way to put those flags in and put a fix in tomorrow.<br>
<br>
Thanks for catching these.<br>
<font color="#888888"><br>
Matei<br>
</font><div><div></div><div><br>
On Thu, Jul 15, 2010 at 3:42 PM, Hai Nguyen <<a href="mailto:haidai@gmail.com" target="_blank">haidai@gmail.com</a>> wrote:<br>
> I seem to have the same issue.<br>
><br>
> [ERROR] [1279233614.830963377]: Database connection failed with error<br>
> message: could not translate host name "wgs36" to address: Name or<br>
> service not known<br>
><br>
> [ERROR] [1279233614.831115827]: Failed to open model database on host<br>
> wgs36, port 5432, user willow with password willow, database models<br>
> [FATAL] [1279233614.831195432]: BREAKPOINT HIT<br>
> file = /u/haidai/svn/grasping_pipeline/object_manipulation/grasp_planner_database/nodes/grasp_planner_database_node.cpp<br>
> line=194<br>
><br>
> [grasp_planner_database-17] process has died [pid 9673, exit code -5].<br>
> log files: /u/haidai/.ros/log/37988d08-9060-11df-b494-001517c01a67/grasp_planner_database-17*.log<br>
> [ INFO] [1279233615.002299804]: Waiting for map ...<br>
><br>
> On Thu, Jul 15, 2010 at 6:34 PM, Adam Leeper <<a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a>> wrote:<br>
>> Hi Matei,<br>
>><br>
>> When I run<br>
>> roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch<br>
>><br>
>> even though I changed the use_database parameter to false, this error still<br>
>> pops up each time during the launch.<br>
>><br>
>> [ERROR] [674.702000000]: Database connection failed with error message:<br>
>> could not translate host name "wgs36" to address: Name or service not known<br>
>><br>
>> [ERROR] [674.702000000]: Failed to open model database on host wgs36, port<br>
>> 5432, user willow with password willow, database models<br>
>> [FATAL] [674.702000000]: BREAKPOINT HIT<br>
>> file =<br>
>> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_collision_map_processing/nodes/tabletop_collision_map_processing_node.cpp<br>
>> line=173<br>
>><br>
>> [tabletop_collision_map_processing-36] process has died [pid 31557, exit<br>
>> code -5].<br>
>> log files:<br>
>> /home/aleeper/.ros/log/9acfc274-905b-11df-8f09-002354971365/tabletop_collision_map_processing-36*.log<br>
>><br>
>><br>
>><br>
>><br>
>> And a result, when I try to run the pick_and_place keyboard demo it gets<br>
>> stuck here:<br>
>><br>
>> [ INFO] [713.141000000]: waitForService: Service<br>
>> [/tabletop_collision_map_processing/tabletop_collision_map_processing] has<br>
>> not been advertised, waiting...<br>
>><br>
>><br>
>> Do some of the other nodes also need to know that the database is not being<br>
>> used?<br>
>><br>
>> Thanks,<br>
>> Adam<br>
>><br>
>><br>
>><br>
>><br>
>> Adam Leeper<br>
>> Stanford University<br>
>> <a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a><br>
>> 719.358.3804<br>
>><br>
>><br>
>> On Wed, Jul 14, 2010 at 3:52 PM, Matei Ciocarlie <<a href="mailto:matei@willowgarage.com" target="_blank">matei@willowgarage.com</a>><br>
>> wrote:<br>
>>><br>
>>> Added some fixes to trunk. Thanks for the feedback, it is really<br>
>>> useful as we prepare the (hopefully) stable 0.2 release.<br>
>>><br>
>>> Adam: there is now a parameter in pr2_tabletop_manipulation.launch:<br>
>>> when starting the tabletop_object_detector node, set use_database to<br>
>>> false and nobody should ever complain about a missing database<br>
>>> connection.<br>
>>><br>
>>> Hao: the problem you were having was actually a fairly deep bug,<br>
>>> should be resolved now..<br>
>>><br>
>>> Matei<br>
>>><br>
>>> On Wed, Jul 14, 2010 at 9:28 AM, Matei Ciocarlie <<a href="mailto:matei@willowgarage.com" target="_blank">matei@willowgarage.com</a>><br>
>>> wrote:<br>
>>> > In order to use the database of models, and thus attempt object<br>
>>> > recognition and execution of precomputed grasps, you need access to a<br>
>>> > database server. Our server at Willow is currently behind the<br>
>>> > firewall, which is why you can not connect to it. We are hoping to fix<br>
>>> > this next week, along with 0.2 release.<br>
>>> ><br>
>>> > For now, there are two options:<br>
>>> > 1) you can install the database on one of your local machines (or<br>
>>> > even on the robot itself). You can find instructions for installing a<br>
>>> > PostgreSQL server on a ubuntu machine here:<br>
>>> ><br>
>>> ><br>
>>> > <a href="http://www.ros.org/wiki/icra_manipulation_demo/Tutorials/Install%20the%20model%20database%20server%20on%20a%20new%20robot" target="_blank">http://www.ros.org/wiki/icra_manipulation_demo/Tutorials/Install%20the%20model%20database%20server%20on%20a%20new%20robot</a><br>
>>> ><br>
>>> > after you are done with the installation of the server, let me know<br>
>>> > and I will provide the database backup file.<br>
>>> ><br>
>>> > 2) do not perform object recognition and grasp objects as unknown<br>
>>> > point clusters. I need to put in a flag somewhere in the detection<br>
>>> > code so that if the database is not present, it will just default to<br>
>>> > this other option instead of crashing. I will do that later today.<br>
>>> ><br>
>>> > Matei<br>
>>> ><br>
>>> > On Wed, Jul 14, 2010 at 9:04 AM, Adam Leeper <<a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a>><br>
>>> > wrote:<br>
>>> >> I tried this and got these errors. Am I missing some files you have<br>
>>> >> there<br>
>>> >> locally?<br>
>>> >> process[tabletop_node-35]: started with pid [8301]<br>
>>> >> [ERROR] [WallTime: 1279072996.735706295]: Database connection failed<br>
>>> >> with<br>
>>> >> error message: could not connect to server: Connection refused<br>
>>> >> Is the server running on host "localhost" and accepting<br>
>>> >> TCP/IP connections on port 5432?<br>
>>> >> could not connect to server: Connection refused<br>
>>> >> Is the server running on host "localhost" and accepting<br>
>>> >> TCP/IP connections on port 5432?<br>
>>> >> [ERROR] [69.915000000]: Failed to open model database on host<br>
>>> >> localhost,<br>
>>> >> port 5432, user willow with password willow, database models<br>
>>> >> [FATAL] [69.915000000]: BREAKPOINT HIT<br>
>>> >> file =<br>
>>> >><br>
>>> >> /home/aleeper/ros/overlays/tabletop_object_perception/tabletop_object_detector/src/tabletop_node.cpp<br>
>>> >> line=241<br>
>>> >> [tabletop_node-35] process has died [pid 8301, exit code -5].<br>
>>> >><br>
>>> >><br>
>>> >> Adam Leeper<br>
>>> >> Stanford University<br>
>>> >> <a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a><br>
>>> >> 719.358.3804<br>
>>> >><br>
>>> >><br>
>>> >> On Mon, Jul 12, 2010 at 10:28 AM, Matei Ciocarlie<br>
>>> >> <<a href="mailto:matei@willowgarage.com" target="_blank">matei@willowgarage.com</a>><br>
>>> >> wrote:<br>
>>> >>><br>
>>> >>> Hi Adam,<br>
>>> >>><br>
>>> >>> The entire grasping pipeline has undergone significant rewriting in<br>
>>> >>> preparation for release. We are hoping to do an 0.2 release of it at<br>
>>> >>> the end of this week, complete with documentation, a stable API, etc.<br>
>>> >>><br>
>>> >>> In the meantime, if you wanted to be an "early adopter" and check out<br>
>>> >>> the 0.1 version that would be great, as your feedback would help us<br>
>>> >>> for 0.2. You can get the most up to date version using the following<br>
>>> >>> .rosinstall overlay file:<br>
>>> >>><br>
>>> >>><br>
>>> >>><br>
>>> >>> <a href="https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall" target="_blank">https://code.ros.org/svn/wg-ros-pkg/trunk/rosinstall_files/cturtle/pr2_manipulation-cturtle-pr2all-overlay-devel.rosinstall</a><br>
>>> >>><br>
>>> >>> To use an overlay file, you would first do a normal ROS insallation<br>
>>> >>> (of cturtle in this case), then use the overlay file like this:<br>
>>> >>><br>
>>> >>> rosinstall target_directory overlay_file_path<br>
>>> >>><br>
>>> >>> And be sure to prepend the target directory to your ROS_PACKAGE_PATH<br>
>>> >>><br>
>>> >>> To start the manipulation pipeline, use<br>
>>> >>><br>
>>> >>> roslaunch pr2_tabletop_manipulation_launch<br>
>>> >>> pr2_tabletop_manipulation.launch<br>
>>> >>><br>
>>> >>> There is no documentation on the wiki yet (we are writing it this<br>
>>> >>> week) but the code itself is well documented. You can get an idea of<br>
>>> >>> how to run it bu looking in the package pr2_pick_and_place_demos,<br>
>>> >>> which contains both Python and C++ examples.<br>
>>> >>><br>
>>> >>> Let me know if you have any questions, we'll be glad to assist you.<br>
>>> >>><br>
>>> >>> Matei<br>
>>> >>><br>
>>> >>> On Sat, Jul 10, 2010 at 2:24 PM, Adam Leeper <<a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a>><br>
>>> >>> wrote:<br>
>>> >>> > Hi-<br>
>>> >>> > I was trying to follow this tutorial to grab things in<br>
>>> >>> ><br>
>>> >>> ><br>
>>> >>> > simulation: <a href="http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline" target="_blank">http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20the%20object%20pickup%20pipeline</a><br>
>>> >>> > but it seems the names of the packages have changed (I realize that<br>
>>> >>> > tutorial<br>
>>> >>> > was last edited February 4th...). Anyway, I found the<br>
>>> >>> > pr2_arm_navigation<br>
>>> >>> > stack but can't seem to find anything directly related to what is<br>
>>> >>> > referenced<br>
>>> >>> > in the tutorial.<br>
>>> >>> > I realize the whole stack is probably still going through a lot of<br>
>>> >>> > changes,<br>
>>> >>> > but do the launch files from that tutorial still exist in some form?<br>
>>> >>> > What is<br>
>>> >>> > the "easy" way of trying out some basic grasping?<br>
>>> >>> > Thanks,<br>
>>> >>> > Adam<br>
>>> >>> ><br>
>>> >>> ><br>
>>> >>> > Adam Leepercoffee<br>
>>> >>> > Stanford University<br>
>>> >>> > <a href="mailto:aleeper@stanford.edu" target="_blank">aleeper@stanford.edu</a><br>
>>> >>> > 719.358.3804<br>
>>> >>> ><br>
>>> >>> > _______________________________________________<br>
>>> >>> > ros-users mailing list<br>
>>> >>> > <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>>> >>> > <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>> >>> ><br>
>>> >>> ><br>
>>> >>><br>
>>> >>><br>
>>> >>><br>
>>> >>> --<br>
>>> >>> Matei Ciocarlie<br>
>>> >>> Research Scientist<br>
>>> >>> Willow Garage Inc.<br>
>>> >>> 650-475-9780<br>
>>> >>> _______________________________________________<br>
>>> >>> ros-users mailing list<br>
>>> >>> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>>> >>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>> >><br>
>>> >><br>
>>> >> _______________________________________________<br>
>>> >> ros-users mailing list<br>
>>> >> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>>> >> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>>> >><br>
>>> >><br>
>>> ><br>
>>> ><br>
>>> ><br>
>>> > --<br>
>>> > Matei Ciocarlie<br>
>>> > Research Scientist<br>
>>> > Willow Garage Inc.<br>
>>> > 650-475-9780<br>
>>> ><br>
>>><br>
>>><br>
>>><br>
>>> --<br>
>>> Matei Ciocarlie<br>
>>> Research Scientist<br>
>>> Willow Garage Inc.<br>
>>> 650-475-9780<br>
>>> _______________________________________________<br>
>>> ros-users mailing list<br>
>>> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>><br>
>><br>
>> _______________________________________________<br>
>> ros-users mailing list<br>
>> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
>> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
>><br>
>><br>
><br>
><br>
><br>
> --<br>
> Hai Nguyen<br>
> CS, Robotics<br>
> _______________________________________________<br>
> ros-users mailing list<br>
> <a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
> <a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
><br>
<br>
<br>
<br>
</div></div>--<br>
<div><div></div><div>Matei Ciocarlie<br>
Research Scientist<br>
Willow Garage Inc.<br>
650-475-9780<br>
_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</div></div></blockquote></div><br>