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Home Page: http://github.com/jsk-ros-pkg/jsk_control
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k-okada garaemon s-noda aginika tarukosu mmurooka yoheikakiuchi core-dump davetcoleman snozawa hyaguchijsk h-kamada furushchev yuohara ikrishneel inabajsk eisoku9618 orikuma wkentaro airballking yutakojio oshiroy huangxliang iory k-kimura mttamtam kochigami yutouchimi kindsenior sshige naoki-hiraoka yuki-shark ishigurojsk otsubo 708yamaguchi kyawawa tongtybj weiqiyang alpha-soliton knorth55 sktometometo jacob1692 ykawamura96 graziegrazie leiqtcv 98shimpei kirohy pazeshunjsk_control's Issues
eus_qp cannot compile on indigo/14.04
In file included from /home/jskuser/ros/indigo/src/jsk-ros-pkg/jsk_control/eus_qp/src/qp_lib.cpp:5:0:
/home/jskuser/ros/indigo/src/jsk-ros-pkg/jsk_control/eus_qp/3rdparty/eiquadprog.hpp: In function ‘Scalar Eigen::distance(Scalar, Scalar)’:
/home/jskuser/ros/indigo/src/jsk-ros-pkg/jsk_control/eus_qp/3rdparty/eiquadprog.hpp:94:7: error: ‘abs’ is not a member of ‘Eigen::internal’
a1 = internal::abs(a);
^
eus_qpoases not installing headers and libs
Hi everyone,
it seems your (catkin) CMakeLists of eus_qpoases does not install any source files or build artifacts. Is the intended behavior?
My use-case: I want to depend on the C++ headers and libs of qpoases through depending on your ROS package. However, I cannot find any of the h-files in the debians. My system: Ubuntu 14.04, ROS Indigo, all updated on June, 18th, 2015.
Best,
Georg.
P.S.: Cool job wrapping this solver for euslisp! I wish we had enough man-power to pursue similar efforts in roslisp...
frame_id on response of ik_server
ik_server returns ik solution with fixed frame_id, "odom".
Is it better that ik server returns a solution with the same frame_id as request msg ?
footstep_planningの、足裏の抜ける部分
pcl_rosの内容かもしれませんが、ロボットの足裏のあたりの平面が延長されて、
その下の本当の平面に足裏があわせられないのですが、どうすればよいでしょうか？
fullbody-inverse-kinematics-with-standcoordsで初めの方の目標姿勢を満たすのが難しい
fullbody-inverse-kinematics-with-standcoordsで立ち位置を順に動かしている影響で，
初めの方の目標は逆**学解がみつかりにくい．
最後の一回は立ち位置を動かさずに逆**学を:stopを増やして解いてみるのが良い気がする.
search good calibration parameter
どの軸を推定すればいいのか、とか
面倒なので2^10のパターンを作って一気に計算してみている
https://gist.github.com/garaemon/a1e4731933424925ae96
.cfg files need to be fixed and released
The .cfg files in this repo need fixing (similar as jsk-ros-pkg/jsk_common#1359): e.g.
jsk_control/jsk_footstep_planner/cfg/FootstepPlanner.cfg
Lines 6 to 12 in be24683
The fixes also need to be released. Currently the Indigo jobs fail since the old code falls back to the non-catkin code generation which won't generate the header in the correct location.
odom_on_groundが片足接地時に更新されない
まだしっかり問題を整理できていないのですが，
実験中にロボットをずっと地面に置いていたにも関わらず，
気がついたらRviz上のロボットが浮いていることがあった気がして，
以下が原因ではないかと思っています．
#133 で出すようにしていただいた
/odom_on_ground は 片足接地時（stateがrfootかlfootのとき）に更新されておらず，
これによって，
リーチング時などに重心が片足に移り片足接地になっているときに足を曲げ伸ばしすると，
Rviz上のロボットモデルがodom_on_groundに対して浮いて見えるというようになっていることが原因かと思います．
歩いているときは片足設置時でもodom_on_groundは更新されてほしくない気がするので，
どうするのがいいのかは難しいところです．
jsk_footstep_planner footstep-planner-node.lがセグフォで落ちます
gdbの出力です。
http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from bash...(no debugging symbols found)...done.
(gdb) r
Starting program: /bin/bash /home/leus/ros/indigo/src/jsk-ros-pkg/jsk_roseus/roseus/bin/roseus /home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_planner/euslisp/footstep-planner-node.l planes:=/ocs/env_server/occlusion_result_polygons grid_maps:=/ocs/env_server/output footstep_planner/result:=footstep_planner/result_non_refined __name:=footstep_planner __log:=/home/leus/.ros/log/f3764420-5ad1-11e5-a3f2-10c37b94cec8/footstep_planner-1.log
process 20427 is executing new program: /home/leus/ros/indigo_parent/devel/share/euslisp/jskeus/eus/Linux64/bin/eusgl
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Traceback (most recent call last):
File "/usr/share/gdb/auto-load/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19-gdb.py", line 63, in <module>
from libstdcxx.v6.printers import register_libstdcxx_printers
ImportError: No module named 'libstdcxx'
configuring by "/home/leus/ros/indigo_parent/devel/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x47e9030[16374] --> 0x4c47d00[32748] top=3c4d
irtgl irtviewer
EusLisp 9.15(0be187a 1.0.10) for Linux64 created on leus-All-Series(Mon Sep 7 21:32:57 JST 2015)
roseus ;; loading roseus("22cb71e") on euslisp((9.15 leus-All-Series Mon Sep 7 21:32:57 JST 2015 0be187a 1.0.10))
[ INFO] [1442236907.425611128]: install ros::roseus-sigint-handler
eustf roseus_c_util whr[New Thread 0x7fffe4565700 (LWP 20436)]
[New Thread 0x7fffe3d64700 (LWP 20437)]
e[New Thread 0x7fffe3563700 (LWP 20438)]
[New Thread 0x7fffe2d62700 (LWP 20450)]
[New Thread 0x7fffe2561700 (LWP 20465)]
[New Thread 0x7fffe1a80700 (LWP 20526)]
[Thread 0x7fffe2561700 (LWP 20465) exited]
[ INFO] [1442236911.251316899, 1432.896000000]: Updating grid model
[ INFO] [1442236911.287036150, 1432.909000000]: :init takes 0.035449 secs (0.035449 sec per trial, 1 trials)
[ INFO] [1442236911.396101553, 1432.957000000]: :init takes 0.108868 secs (0.108868 sec per trial, 1 trials)
[ INFO] [1442236911.449724234, 1432.969000000]: :init takes 0.053239 secs (0.053239 sec per trial, 1 trials)
[ INFO] [1442236911.453694005, 1432.969000000]: :init takes 0.003699 secs (0.003699 sec per trial, 1 trials)
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffe4565700 (LWP 20436)]
0x00007fffebbc4063 in boost::signals2::detail::slot_call_iterator_t<boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::slot_invoker, std::_List_iterator<boost::shared_ptr<boost::signals2::detail::connection_body<std::pair<boost::signals2::detail::slot_meta_group, boost::optional<int> >, boost::signals2::slot0<void, boost::function<void ()> >, boost::signals2::mutex> > >, boost::signals2::detail::connection_body<std::pair<boost::signals2::detail::slot_meta_group, boost::optional<int> >, boost::signals2::slot0<void, boost::function<void ()> >, boost::signals2::mutex> >::lock_next_callable() const ()
from /opt/ros/indigo/lib/libroscpp.so
(gdb) where
#0 0x00007fffebbc4063 in boost::signals2::detail::slot_call_iterator_t<boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::slot_invoker, std::_List_iterator<boost::shared_ptr<boost::signals2::detail::connection_body<std::pair<boost::signals2::detail::slot_meta_group, boost::optional<int> >, boost::signals2::slot0<void, boost::function<void ()> >, boost::signals2::mutex> > >, boost::signals2::detail::connection_body<std::pair<boost::signals2::detail::slot_meta_group, boost::optional<int> >, boost::signals2::slot0<void, boost::function<void ()> >, boost::signals2::mutex> >::lock_next_callable() const ()
from /opt/ros/indigo/lib/libroscpp.so
#1 0x00007fffebbc47a3 in boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::operator()() () from /opt/ros/indigo/lib/libroscpp.so
#2 0x00007fffebbc1954 in ros::PollManager::threadFunc() ()
from /opt/ros/indigo/lib/libroscpp.so
#3 0x00007fffea28ba4a in ?? ()
from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#4 0x00007ffff643e182 in start_thread (arg=0x7fffe4565700)
at pthread_create.c:312
#5 0x00007ffff616b47d in clone ()
at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111
(gdb)
footstep plannerの出力する足配置結果が，successorで与えたものと異なる
footstep plannerの出力する足配置結果が，successorで与えたものと異なります．
詳細は後で報告します．
立ち位置探索IKで複数limbを使えるようにする
@YuOhara さん，
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_planner/euslisp/footplace_planner_for_manipulation.l#L50
のfullbody-inverse-kinematics-with-standcoords で，
fullbody-inverse-kinematicsと同じ引数をサポートするできますでしょうか．
特に複数のmove-targetに対応したいですが，
&rest, &allow-other-keysなどで他の引数もそのまま使えたら便利です．
future plan for joy stuff
this is a discussion form about the plan how to handle joy programs
トラックボールで視点を動かすプログラム
@mmurooka 以前trackpointを/joyに出していましたが、あれはどうやっていましたか?
メモ
- マウスとして無効化する
$ xinput list
⎡ Virtual core pointer id=2 [master pointer (3)]
⎜ ↳ Virtual core XTEST pointer id=4 [slave pointer (2)]
⎜ ↳ Lite-On Technology Corp. ThinkPad USB Keyboard with TrackPoint id=9 [slave pointer (2)]
⎜ ↳ Primax Kensington Eagle Trackball id=10 [slave pointer (2)]
⎣ Virtual core keyboard id=3 [master keyboard (2)]
↳ Virtual core XTEST keyboard id=5 [slave keyboard (3)]
↳ Power Button id=6 [slave keyboard (3)]
↳ Power Button id=7 [slave keyboard (3)]
↳ Lite-On Technology Corp. ThinkPad USB Keyboard with TrackPoint id=8 [slave keyboard (3)]
$ xinput set-prop 10 "Device Enabled" 0
eus_qpoases patch fail
...
A build/qpOASES-source/examples/example5.cpp
A build/qpOASES-source/examples/example4CP.cpp
A build/qpOASES-source/examples/exampleLP.cpp
A build/qpOASES-source/examples/qrecipe.cpp
A build/qpOASES-source/examples/Makefile
A build/qpOASES-source/examples/example1.cpp
A build/qpOASES-source/examples/example1a.cpp
A build/qpOASES-source/examples/example2.cpp
U build/qpOASES-source
リビジョン 76 をチェックアウトしました。
patch -d build/qpOASES-source -p0 < /home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qpoases/patch/UseShareLibrary.patch;
patching file CMakeLists.txt
Hunk #1 FAILED at 65.
1 out of 1 hunk FAILED -- saving rejects to file CMakeLists.txt.rej
make[1]: *** [build/qpOASES-source] エラー 1
make[1]: ディレクトリ `/home/leus/ros/hydro/build/jsk-ros-pkg/jsk_control/eus_qpoases' から出ます
CMake Error at jsk-ros-pkg/jsk_control/eus_qpoases/catkin.cmake:13 (message):
Build of qpOASES failed
Call Stack (most recent call first):
jsk-ros-pkg/jsk_control/eus_qpoases/CMakeLists.txt:2 (include)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] エラー 1
Invoking "make cmake_check_build_system" failed
立ち位置探索プログラム
- 逆**学が解けるか
- demo以下にべったりかくのではなく、ちゃんとライブラリとして切り離す。
- 十分速いか
- 環境と衝突しないか
- 経路はあるのか
- 環境と衝突しないかつ見えない領域にいっていてないか(オクルージョン評価)
- visibilityが十分確保できる立ち位置なのか
initial pose of right arm of hrp2 in jsk_calibration is wrong
something wrong...
- left arm initial position looks good
- right arm is not good apparently
[jsk_footstep_planner] Empty Frame error has occured in heightmap.launch with PR2
I'm using PR2 hydro and jsk_footstep_planner's heightmap.launch.
Simply I got below error.
terminate called after throwing an instance of 'tf2::InvalidArgumentException'
what(): Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty
I wrote below launch file.
<launch>
<arg name="input_cloud" default="/tilt_scan_shadow_filtered"/>
<!-- <arg name="input_cloud" default="/kinect_head_c2/depth_registered/points"/> -->
<!-- Too remove Ceiling Plane -->
<node pkg="nodelet" type="nodelet" name="pass_through_z"
args="standalone pcl/PassThrough">
<remap from="~input" to="$(arg input_cloud)" />
<rosparam>
filter_field_name: z
filter_limit_min: 0
filter_limit_max: 1.2
</rosparam>
</node>
<include file="$(find jsk_footstep_planner)/launch/heightmap_perception/heightmap.launch">
<arg name="STAND_FRAME" value="map"/>
<arg name="ROBOT_FRAME" value="base_footprint"/>
<arg name="DEBUG_VIEW" default="false" />
<arg name="INPUT" value="pass_through_z/output"/>
</include>
</launch>
/pass_through_z/output is publishing well and we can confirm it on rviz.
And theirs echo is as below.
$ rostopic echo /tilt_scan_shadow_filtered --noarr
header:
seq: 297901
stamp:
secs: 1439205155
nsecs: 999429120
frame_id: base_footprint
height: 1
width: 165
is_bigendian: False
point_step: 16
row_step: 2640
is_dense: True
---
What is the problem of the tf2 empty frame error?
And below is error.
$ roslaunch jsk_pr2_startup heightmap.launch
... logging to /home/inagaki/.ros/log/089a57d2-3f3f-11e5-987a-001517ebc305/roslaunch-pr1040-13749.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://pr1040:34790/
SUMMARY
========
PARAMETERS
* /accumulated_heightmap/center_frame_id
* /accumulated_heightmap/fixed_frame_id
* /accumulated_heightmap_pointcloud_static/target_frame_id
* /heightmap_nodelet/nodelets
* /latest_heightmap/max_x
* /latest_heightmap/max_y
* /latest_heightmap/min_x
* /latest_heightmap/min_y
* /latest_heightmap/resolution_x
* /latest_heightmap/resolution_y
* /map_origin_polygon/frame_ids
* /map_origin_polygon/polygon_array
* /map_origin_polygon/use_message
* /pass_through_z/filter_field_name
* /pass_through_z/filter_limit_max
* /pass_through_z/filter_limit_min
* /robot_center_map_origin_points/target_frame_id
* /robot_center_pointcloud/target_frame_id
* /robot_center_pointcloud_with_map_origin_points/input_topics
* /robot_center_pointcloud_with_map_origin_points/max_queue_size
* /robot_center_pointcloud_with_map_origin_points/output_frame
* /rosdistro
* /rosversion
NODES
/heightmap_visualization/latest/
colorize_heightmap (jsk_perception/colorize_float_image)
/heightmap_visualization/accumulated/
colorize_heightmap (jsk_perception/colorize_float_image)
/heightmap_visualization/filtered/
colorize_heightmap (jsk_perception/colorize_float_image)
/
heightmap_nodelet (jsk_topic_tools/standalone_complexed_nodelet)
pass_through_z (nodelet/nodelet)
ROS_MASTER_URI=http://c1:11311
core service [/rosout] found
process[pass_through_z-1]: started with pid [14094]
process[heightmap_nodelet-2]: started with pid [14226]
[ INFO] [1439205071.994113391]: [int main(int, char**)] i_nodelet 0
[ INFO] [1439205071.994286476]: [int main(int, char**)] remapping: /map_origin_polygon/input => /robot_center_pointcloud/output
[ INFO] [1439205072.380613897]: [int main(int, char**)] Succeeded to load nodelet [/map_origin_polygon -- jsk_pcl/StaticPolygonArrayPublisher]
[ INFO] [1439205072.380673164]: [int main(int, char**)] i_nodelet 1
[ INFO] [1439205072.380781669]: [int main(int, char**)] remapping: /map_origin_polygon_sampler/input/polygons => /map_origin_polygon/output_polygons
[ INFO] [1439205072.380853613]: [int main(int, char**)] remapping: /map_origin_polygon_sampler/input/coefficients => /map_origin_polygon/output_coefficients
[ INFO] [1439205072.413210877]: [int main(int, char**)] Succeeded to load nodelet [/map_origin_polygon_sampler -- jsk_pcl/PolygonPointsSampler]
[ INFO] [1439205072.413271919]: [int main(int, char**)] i_nodelet 2
[ INFO] [1439205072.413344045]: [int main(int, char**)] remapping: /robot_center_map_origin_points/input => /map_origin_polygon_sampler/output_xyz
process[heightmap_visualization/latest/colorize_heightmap-3]: started with pid [14346]
[ INFO] [1439205072.724251534]: [static tf::TransformListener* jsk_pcl_ros::TfListenerSingleton::getInstance()] instantiating tf::TransformListener
[ INFO] [1439205072.732965772]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_map_origin_points -- jsk_pcl/TfTransformCloud]
[ INFO] [1439205072.733217773]: [int main(int, char**)] i_nodelet 3
[ INFO] [1439205072.733428916]: [int main(int, char**)] remapping: /robot_center_pointcloud/input => /pass_through_z/output
[ INFO] [1439205072.742064220]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_pointcloud -- jsk_pcl/TfTransformCloud]
[ INFO] [1439205072.742124975]: [int main(int, char**)] i_nodelet 4
[ INFO] [1439205072.881342730]: [onInit] Subscribing to 2 user given topics as inputs:
[ INFO] [1439205072.881438975]: - /robot_center_pointcloud/output
[ INFO] [1439205072.881481090]: - /robot_center_map_origin_points/output
[ INFO] [1439205072.888799222]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_pointcloud_with_map_origin_points -- pcl/PointCloudConcatenateDataSynchronizer]
[ INFO] [1439205072.888858916]: [int main(int, char**)] i_nodelet 5
[ INFO] [1439205072.889366658]: [int main(int, char**)] remapping: /latest_heightmap/input => /robot_center_pointcloud_with_map_origin_points/output
[ INFO] [1439205072.938153360]: [int main(int, char**)] Succeeded to load nodelet [/latest_heightmap -- jsk_pcl/HeightmapConverter]
[ INFO] [1439205072.938215729]: [int main(int, char**)] i_nodelet 6
[ INFO] [1439205072.938309861]: [int main(int, char**)] remapping: /latest_complete_heightmap/input => /latest_heightmap/output
[ INFO] [1439205072.967627914]: [int main(int, char**)] Succeeded to load nodelet [/latest_complete_heightmap -- jsk_pcl/HeightmapMorphologicalFiltering]
[ INFO] [1439205072.967688307]: [int main(int, char**)] i_nodelet 7
[ INFO] [1439205072.967777682]: [int main(int, char**)] remapping: /accumulated_heightmap/input => /latest_complete_heightmap/output
[ INFO] [1439205072.967855700]: [int main(int, char**)] remapping: /accumulated_heightmap/input/prev_pointcloud => /accumulated_heightmap_pointcloud/output
[ INFO] [1439205072.988036257]: [int main(int, char**)] Succeeded to load nodelet [/accumulated_heightmap -- jsk_pcl/HeightmapTimeAccumulation]
[ INFO] [1439205072.988104125]: [int main(int, char**)] i_nodelet 8
[ INFO] [1439205072.988206560]: [int main(int, char**)] remapping: /accumulated_heightmap_pointcloud/input => /accumulated_heightmap/output
[ INFO] [1439205073.000327509]: [int main(int, char**)] Succeeded to load nodelet [/accumulated_heightmap_pointcloud -- jsk_pcl/HeightmapToPointCloud]
[ INFO] [1439205073.000400186]: [int main(int, char**)] i_nodelet 9
[ INFO] [1439205073.000562136]: [int main(int, char**)] remapping: /accumulated_heightmap_pointcloud_static/input => /accumulated_heightmap_pointcloud/output
[ INFO] [1439205073.009599123]: [int main(int, char**)] Succeeded to load nodelet [/accumulated_heightmap_pointcloud_static -- jsk_pcl/TfTransformCloud]
process[heightmap_visualization/filtered/colorize_heightmap-4]: started with pid [14553]
terminate called after throwing an instance of 'tf2::InvalidArgumentException'
what(): Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty
[heightmap_nodelet-2] process has died [pid 14226, exit code -6, cmd /home/inagaki/ros/hydro/devel/lib/jsk_topic_tools/standalone_complexed_nodelet __name:=heightmap_nodelet __log:=/home/inagaki/.ros/log/089a57d2-3f3f-11e5-987a-001517ebc305/heightmap_nodelet-2.log].
log file: /home/inagaki/.ros/log/089a57d2-3f3f-11e5-987a-001517ebc305/heightmap_nodelet-2*.log
ik-server でメモリリークが起こる
gazebo, hrpsys, ik-server を動かしたまましばらく放置していた所，ik-server が 44GB のメモリを使っていました．
@s-noda お願いします．
hand-eye calib用の姿勢を作るパッケージ
rosのcalibrationを利用するために、その姿勢を作るパッケージを用意する
https://github.com/garaemon/jsk_control/tree/add-jsk-calibration-package で作業中
jsk_footstep_controllerで足裏中心から足のend-coordsのoffsetを指定できるように
offsetを反映させる必要がある。
paramで渡すようにする。
footcoordsの接地判定で力センサ値を座標変換する
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/src/footcoords.cpp
の接地判定で，/lfsensor, /rfsensor をそのまま読んでいますが，
力センサ座標系に変換する必要がありそうです．
HRP2とSTAROで力センサの座標系が異なっていました．
（rostopic echo /lfsensorで，HRP2は接地時にZ成分が正の値，STAROは接地時にZ成分が負の値になる．）
Rviz上の力センサを表す矢印は，どちらのロボットも正しく出ているのでtfで変換すれば正しくなると思います．
[jsk_footstep_planner] fullbody-inverse-kinematics-with-standcoords でIKが解けたか返す
fullbody-inverse-kinematics-with-standcoords は，
IKが解けていなくても（手先が目標軌道に届いていなくても），
関節角を返しますが，
threやrthreに応じて，届いていなかったらそれが分かるようになりますでしょうか．
jsk_control is not released in indigo?
I couldn't find jsk_ik_server in apt...
Is there any reason jsk_ik_server and others is released only in hydro?
eus_qp could not compile
[eus_qp] ==> '/home/iori/ros/hydro/build/eus_qp/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/iori/ros/hydro/build/eus_qp'
[100%] Building CXX object CMakeFiles/eus_qp.dir/src/qp_lib.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:277:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/iori/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qp/src/qp_lib.cpp:3:
/usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:65:7: required from class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >
/usr/include/eigen3/Eigen/src/Core/Matrix.h:140:7: required from class Eigen::Matrix<float, 4, 1>
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:287:16: required from class Eigen::Quaternion<float>
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:35:3: required from here
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: Eigen::internal::size_at_compile_time<4, 1>::<anonymous enum> vs Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >::<anonymous enum> [-Wenum-compare]
InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? SizeAtCompileTime
^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:65:7: required from class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >
/usr/include/eigen3/Eigen/src/Core/Matrix.h:140:7: required from class Eigen::Matrix<double, 4, 1>
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:287:16: required from class Eigen::Quaternion<double>
/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h:76:3: required from here
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: Eigen::internal::size_at_compile_time<4, 1>::<anonymous enum> vs Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >::<anonymous enum> [-Wenum-compare]
In file included from /usr/include/boost/math/special_functions/round.hpp:13:0,
from /opt/ros/hydro/include/ros/time.h:58,
from /opt/ros/hydro/include/ros/console.h:39,
from /opt/ros/hydro/include/ros/assert.h:35,
from /opt/ros/hydro/include/ros/common.h:36,
from /home/iori/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qp/src/qp_lib.cpp:6:
/usr/include/boost/math/tools/config.hpp:277:7: error: fexcept_t does not name a type
fexcept_t m_flags;
^
/usr/include/boost/math/tools/config.hpp: In constructor boost::math::detail::fpu_guard::fpu_guard():
/usr/include/boost/math/tools/config.hpp:269:27: error: m_flags was not declared in this scope
fegetexceptflag(&m_flags, FE_ALL_EXCEPT);
rename jsk_joy to jsk_teleop_joy
忘れていました。やります
add rosbuild test
Midiコントローラの値がアップデートされない
midi_config_player.pyをつかって，Midiコントローラの値をJoyトピックとしてpublish していますが，
スライダやつまみを動かさないと値を取得できない問題に困っています．
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_teleop_joy/scripts/midi_config_player.py
スライダにアクチュエータがついているMidiコントローラで，
スライダをアクチュエートして動かした場合にも，
動いた後のスライダの値を取得することができません．
何か頑張れば解決できるでしょうか．
jsk_ik_serverでcentroidの目標を変更する
jsk_ik_serverでcentroidの目標が、両足ひらのconvex-hullの中にあればいいように
なっていると思いますが、これを変更するにはどうしたらいいですか？
例えば、foot-mid-coordsに中心がある半径１ｃｍの円にするなどです。
Where shold be put packages for eyetracker/psmove-like human machine interaction devices on?
Now in lab, there are several devices working around and codes for them.
I'd like to put the codes on jsk repos and share them.
It is very difficult to me where to put these packages.
Maybe out choice are:
- make
jsk_control/jsk_devicesdirectory and put them into this. - make another new git repo that is named like
jsk_interfaces
3-. other ideas
Which is better to do?
heightmapのノードが死んでる
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_planner/launch/heightmap_perception/heightmap.launch#L67
でtopicの/map_origin_polygon/output_coefficientsにnanの値が入って、
https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/src/polygon_points_sampler_nodelet.cpp
が死んでnodelet全体が死んでしまっているのですが、
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_planner/launch/heightmap_perception/heightmap.launch#L66
でコメントアウトされた部分が正解なのでしょうか？
IK server をfullbodyで使うと足の位置が少しずつずれる
Fullbody MoveItとIK serverを合わせて使うと，
IKサーバ上のeusモデルの足先位置がだんだんずれていきます．
IKの誤差が蓄積しているようで，
前に @s-noda に仕様だと聞いたのですが，
やっぱり不便に感じるので直していただくことはできそうでしょうか．
:set-auto-balancer-paramを呼ぶと両足をそろえてしまう
両足のx方向位置が揃っていない状態で
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/euslisp/footstep-controller-old.l#L761-L762
を実行すると両足を無理やり揃えようとしてしまいます．
現状，
https://drive.google.com/a/jsk.imi.i.u-tokyo.ac.jp/file/d/0B9Cu2eewhmiwZkNmUHB2blRWZm8/view?usp=sharing
のように，段差を登る前に両足を揃えてしまい，場合によってはそのせいで転けてしまいます．
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/euslisp/footstep-controller-old.l#L761-L762
をコメントアウトした状態では，
https://drive.google.com/a/jsk.imi.i.u-tokyo.ac.jp/file/d/0B9Cu2eewhmiweWFMa0VDeXZRVVU/view?usp=sharing
のように両足を揃えることなく登ることができました．
これは，最近起こるようになったことでしょうか？それとも前からあってなにか対策済みでしょうか？
jsk_joyで無線ps3を自動認識するようにする
moved from jsk-ros-pkg/jsk_common#290
xbox, ps3wiredと同様にps3(bluetooth)もサポートする
HRP2/JAXON その他のjsk_footstep_controller/footcoords.cppの出すodomの名前を変更する
humanoidsからodomとして出ているものの実態がAutobalancerの出しているodomであるので、
Autobalancerの出しているodomをabc_odom (名前は議論があっていいと思う）として、
odom = abc_odom とするのがいいのではないか。
理由としては、Autobalancer以外のodomが出てきたときの対応と、
footstep-controller等でodomをAutobalancerの原点として使っているためわかりにくいという点が挙げられます。
ロボットマーカの足裏座標系を統一したい
[1] が出す/groundというtfと
[2]から取得できるHRP2マーカの足裏poseと
eusモデルのfoot-midcoordsがあって，
[1]と[2]， [2]とeusモデルの間で微妙に違っています．
（[1]とeusモデルは同じかもしれないですが未確認．）
https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/config/hrp2jsknt_sim.yaml#L10-L18
の設定でeusモデルと同じになるはずでしたら，この設定を使うように統一するのがよろしいでしょうか．
[1] https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/scripts/foot_contact_monitor.py
[2] https://github.com/jsk-ros-pkg/jsk_visualization/blob/master/jsk_interactive_markers/jsk_interactive_marker/src/urdf_model_marker.cpp
cannot compile eus_qpoases by `catkin build`
A build/qpOASES-source/examples/example4.cpp
A build/qpOASES-source/examples/example3b.cpp
A build/qpOASES-source/examples/example5.cpp
A build/qpOASES-source/examples/example4CP.cpp
A build/qpOASES-source/examples/exampleLP.cpp
A build/qpOASES-source/examples/qrecipe.cpp
A build/qpOASES-source/examples/Makefile
A build/qpOASES-source/examples/example1.cpp
A build/qpOASES-source/examples/example1a.cpp
A build/qpOASES-source/examples/example2.cpp
U build/qpOASES-source
112
patch -d build/qpOASES-source -p0 < /home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qpoases/patch/UseShareLibrary.patch;
patching file CMakeLists.txt
Hunk #1 FAILED at 65.
1 out of 1 hunk FAILED -- saving rejects to file CMakeLists.txt.rej
make: *** [build/qpOASES-source] 1
CMake Error at catkin.cmake:13 (message):
Build of qpOASES failed
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
-- Configuring incomplete, errors occurred!
[eus_qpoases] <== '/home/leus/ros/hydro/build/eus_qpoases/build_env.sh /usr/bin/cmake /home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qpoases -DCATKIN_DEVEL_PREFIX=/home/leus/ros/hydro/devel -DCMAKE_INSTALL_PREFIX=/home/leus/ros/hydro/install' failed with return code '1'
[build] There were errors:
Failed to build package 'eus_qpoases' because the following command:
# Command run in directory: /home/leus/ros/hydro/build/eus_qpoases
/home/leus/ros/hydro/build/eus_qpoases/build_env.sh /usr/bin/cmake /home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_qpoases -DCATKIN_DEVEL_PREFIX=/home/leus/ros/hydro/devel -DCMAKE_INSTALL_PREFIX=/home/leus/ros/hydro/install
Exited with return code: 1
[build] Runtime: 29.5 seconds
Visualize emergency stop margin in footstep_visualizer
#!/usr/bin/env python
from hrpsys_ros_bridge.srv import OpenHRP_StabilizerService_getParameter as getParameter
import rospy
if __name__ == "__main__":
rospy.init_node("stabilizer_watcher")
g_get_parameter_srv = rospy.ServiceProxy("/StabilizerServiceROSBridge/getParameter", getParameter)
r = rospy.Rate(0.1)
while not rospy.is_shutdown():
print g_get_parameter_srv().i_param.cp_check_margin
r.sleep()
[jsk_footstep_planner] pcl/PointCloudConcatenateDataSynchronizer seems to cause tf2::InvalidArgumentException
Issue
roslaunch jsk_footstep_planner heightmap.launch causes tf2::InvalidArgumentException.
I checked nodelets in heightmap_nodelet as follows and I reproduced this error when robot_center_pointcloud_with_map_origin_points is commented in.
- comment out all nodelets in the heightmap_nodelets
- comment in nodelets one-by-one from robot_center_pointcloud, which input is /distance_filtered_laser_snapshots/output_cloud
It seems the same error as #424
/body_on_odom, /map and /odom_init are published as /tf.
Both /robot_center_pointcloud/output and /robot_center_map_origin_points/output have /body_on_odom as their frame_id in headers.
Environment
hrp2007v with multisenseSL (firmware version 0x0303)
jsk_recognition at master in 810ba37c4fb36bc9d2fafd4329d7cb4d86c1a87d
jsk_common at master in 1a0ecef4643ec4b4a238b95d05f0f516584a510c
jsk_control at master in 79f4aab
ros-hydro-pcl-ros 1.1.11-0precise-20150111-0931-+0000 from apt
heightmap.launch is modified to use heightmap_nodelet (not to be combined with multisense_laser)
How to reproduce
hrp2007v$ roslaunch jsk_hrp2_ros_bridge hrp2007.launch # heightmap.launch is disabled by if="false" option
hrp2007v$ roslaunch jsk_footstep_planner heightmap.launch DEBUG_VIEW:=false
gdb output
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /home/hrpuser/ros/hydro/devel/lib/jsk_topic_tools/standalone_complexed_nodelet...(no debugging symbols found)...done.
(gdb) run
Starting program: /home/hrpuser/ros/hydro/devel/lib/jsk_topic_tools/standalone_complexed_nodelet __name:=heightmap_nodelet __log:=/home/hrpuser/.ros/log/6af1531e-bd01-11e5-b186-00031d0c7c63/heightmap_nodelet-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffef540700 (LWP 3174)]
[New Thread 0x7fffeed3f700 (LWP 3175)]
[New Thread 0x7fffee53e700 (LWP 3176)]
[New Thread 0x7fffedd3d700 (LWP 3181)]
[New Thread 0x7fffecf0d700 (LWP 3182)]
[New Thread 0x7fffdffff700 (LWP 3183)]
[New Thread 0x7fffdf7fe700 (LWP 3184)]
[New Thread 0x7fffdeffd700 (LWP 3185)]
[New Thread 0x7fffde7fc700 (LWP 3186)]
[ INFO] [1453199740.830532137]: [int main(int, char**)] i_nodelet 0
[ INFO] [1453199740.830672328]: [int main(int, char**)] remapping: /map_origin_polygon/input => /robot_center_pointcloud/output
[New Thread 0x7fffaa746700 (LWP 5940)]
[ INFO] [1453199766.792916718]: [int main(int, char**)] Succeeded to load nodelet [/map_origin_polygon -- jsk_pcl/StaticPolygonArrayPublisher]
[ INFO] [1453199766.792969914]: [int main(int, char**)] i_nodelet 1
[ INFO] [1453199766.793057491]: [int main(int, char**)] remapping: /map_origin_polygon_sampler/input/polygons => /map_origin_polygon/output_polygons
[ INFO] [1453199766.793124759]: [int main(int, char**)] remapping: /map_origin_polygon_sampler/input/coefficients => /map_origin_polygon/output_coefficients
[New Thread 0x7fffa9f45700 (LWP 5981)]
[ INFO] [1453199766.863401978]: [int main(int, char**)] Succeeded to load nodelet [/map_origin_polygon_sampler -- jsk_pcl/PolygonPointsSampler]
[ INFO] [1453199766.863531440]: [int main(int, char**)] i_nodelet 2
[ INFO] [1453199766.863674949]: [int main(int, char**)] remapping: /robot_center_map_origin_points/input => /map_origin_polygon_sampler/output_xyz
[ INFO] [1453199766.873487696]: [static tf::TransformListener* jsk_recognition_utils::TfListenerSingleton::getInstance()] instantiating tf::TransformListener
[New Thread 0x7fffa9744700 (LWP 6025)]
[ INFO] [1453199766.892528617]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_map_origin_points -- jsk_pcl/TfTransformCloud]
[ INFO] [1453199766.892946323]: [int main(int, char**)] i_nodelet 3
[ INFO] [1453199766.893285148]: [int main(int, char**)] remapping: /robot_center_pointcloud/input => /distance_filtered_laser_snapshots/output_cloud
[ INFO] [1453199766.913616336]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_pointcloud -- jsk_pcl/TfTransformCloud]
[ INFO] [1453199766.913741362]: [int main(int, char**)] i_nodelet 4
[New Thread 0x7fffa8a78700 (LWP 6075)]
[ INFO] [1453199767.562053474]: [onInit] Subscribing to 2 user given topics as inputs:
[ INFO] [1453199767.562124104]: - /robot_center_pointcloud/output
[ INFO] [1453199767.562310179]: - /robot_center_map_origin_points/output
[ INFO] [1453199767.566608835]: [int main(int, char**)] Succeeded to load nodelet [/robot_center_pointcloud_with_map_origin_points -- pcl/PointCloudConcatenateDataSynchronizer]
[ INFO] [1453199767.703069330]: [int main(int, char**)] done reading parmaeters
[ INFO] [1453199767.703130331]: [int main(int, char**)] loaded nodelets: 5
[ INFO] [1453199767.703155815]: [int main(int, char**)] loaded nodelet: /map_origin_polygon
[ INFO] [1453199767.703177760]: [int main(int, char**)] loaded nodelet: /map_origin_polygon_sampler
[ INFO] [1453199767.703201101]: [int main(int, char**)] loaded nodelet: /robot_center_map_origin_points
[ INFO] [1453199767.703221600]: [int main(int, char**)] loaded nodelet: /robot_center_pointcloud
[ INFO] [1453199767.703244648]: [int main(int, char**)] loaded nodelet: /robot_center_pointcloud_with_map_origin_points
terminate called after throwing an instance of 'tf2::InvalidArgumentException'
what(): Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty
```Program received signal SIGABRT, Aborted.
[Switching to Thread 0x7fffdffff700 (LWP 3183)]
0x00007ffff69450d5 in raise () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) bt
#0 0x00007ffff69450d5 in raise () from /lib/x86_64-linux-gnu/libc.so.6
#1 0x00007ffff694883b in abort () from /lib/x86_64-linux-gnu/libc.so.6
#2 0x00007ffff6f9b69d in __gnu_cxx::__verbose_terminate_handler() ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3 0x00007ffff6f99846 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4 0x00007ffff6f99873 in std::terminate() ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5 0x00007ffff6f999b6 in __cxa_rethrow ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6 0x00007ffff78f4ccd in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/hydro/lib/libroscpp.so
#7 0x00007ffff78f582f in ros::CallbackQueue::callOne(ros::WallDuration) ()
from /opt/ros/hydro/lib/libroscpp.so
#8 0x00007ffff7bbfa8a in nodelet::detail::CallbackQueue::callOne() ()
from /opt/ros/hydro/lib/libnodeletlib.so
#9 0x00007ffff7bc12a2 in nodelet::detail::CallbackQueueManager::workerThread(nodelet::detail::CallbackQueueManager::ThreadInfo*) ()
from /opt/ros/hydro/lib/libnodeletlib.so
#10 0x00007ffff5868ce9 in thread_proxy ()
from /usr/lib/libboost_thread.so.1.46.1
#11 0x00007ffff71ebe9a in start_thread ()
from /lib/x86_64-linux-gnu/libpthread.so.0
#12 0x00007ffff6a028bd in clone () from /lib/x86_64-linux-gnu/libc.so.6
---Type <return> to continue, or q <return> to quit---
#13 0x0000000000000000 in ?? ()
(gdb) info thread
Id Target Id Frame
14 Thread 0x7fffa8a78700 (LWP 6075) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
13 Thread 0x7fffa9744700 (LWP 6025) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
12 Thread 0x7fffa9f45700 (LWP 5981) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
11 Thread 0x7fffaa746700 (LWP 5940) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
10 Thread 0x7fffde7fc700 (LWP 3186) "standalone_comp" 0x00007ffff71efd84 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
9 Thread 0x7fffdeffd700 (LWP 3185) "standalone_comp" 0x00007ffff71efd84 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
8 Thread 0x7fffdf7fe700 (LWP 3184) "standalone_comp" 0x00007ffff71efd84 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
* 7 Thread 0x7fffdffff700 (LWP 3183) "standalone_comp" 0x00007ffff69450d5 in raise () from /lib/x86_64-linux-gnu/libc.so.6
6 Thread 0x7fffecf0d700 (LWP 3182) "standalone_comp" 0x00007ffff71efd84 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
---Type <return> to continue, or q <return> to quit---
5 Thread 0x7fffedd3d700 (LWP 3181) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
4 Thread 0x7fffee53e700 (LWP 3176) "standalone_comp" 0x00007ffff71efd84 in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
3 Thread 0x7fffeed3f700 (LWP 3175) "standalone_comp" 0x00007ffff69fbc23 in select () from /lib/x86_64-linux-gnu/libc.so.6
2 Thread 0x7fffef540700 (LWP 3174) "standalone_comp" 0x00007ffff71f29fa in __lll_unlock_wake () from /lib/x86_64-linux-gnu/libpthread.so.0
1 Thread 0x7ffff7fbe780 (LWP 2985) "standalone_comp" 0x00007ffff71f00fe in pthread_cond_timedwait@@GLIBC_2.3.2 ()
from /lib/x86_64-linux-gnu/libpthread.so.0
HRP2W用のik_server
HRP2W用のik_serverがなかったので，僕の方で追加しておきます．
start-jsk/rtmros_tutorials#87
start-jsk/rtmros_tutorials#88
この２つのPRがマージされていないとHRP2Wのモデルが生成されませんが，
待てないので手元で生成したものでテストします．
add euslisp/test-eus-qpoases.l as test program
eus_qpoases cannot be compiled with ccache
CMake Error at /usr/share/cmake-2.8/Modules/CMakeTestCXXCompiler.cmake:45 (MESSAGE):
The C++ compiler "/usr/bin/ccache" is not able to compile a simple test
program.
It fails with the following output:
Change Dir: /home/leus/ros/hydro/build/eus_qpoases/build/qpOASES/CMakeFiles/CMakeTmp
Run Build Command:/usr/bin/make "cmTryCompileExec/fast"
make[1]:
`/home/leus/ros/hydro/build/eus_qpoases/build/qpOASES/CMakeFiles/CMakeTmp'
/usr/bin/make -f CMakeFiles/cmTryCompileExec.dir/build.make
CMakeFiles/cmTryCompileExec.dir/build
make[2]:
`/home/leus/ros/hydro/build/eus_qpoases/build/qpOASES/CMakeFiles/CMakeTmp'
/usr/bin/cmake -E cmake_progress_report
/home/leus/ros/hydro/build/eus_qpoases/build/qpOASES/CMakeFiles/CMakeTmp/CMakeFiles
1
Building CXX object CMakeFiles/cmTryCompileExec.dir/testCXXCompiler.cxx.o
/usr/bin/ccache -o CMakeFiles/cmTryCompileExec.dir/testCXXCompiler.cxx.o -c
/home/leus/ros/hydro/build/eus_qpoases/build/qpOASES/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
/usr/bin/ccache: invalid option -- 'o'
Usage:
ccache [options]
ccache compiler [compiler options]
compiler [compiler options] (via symbolic link)
footstep plannerの最後の２歩（finalize）で足が干渉する
footstep plannerの最後の２歩（finalize）で足が干渉します．
詳細は後で報告します．
footstep_visualizer.pyのzmpの座標が間違っている気がする
jaxonだけまちがっているかも
sample calibration poses to see different checkerboards orientation
need to sample poses with z-axis sampling
hrpsysの歩行生成器に速度指令を入力するジョイスティックのプログラム
@snozawa どのトピックに速度指令を出せばいいですか
[jsk_footstep_controller]footcoords.cppのpublish_odom_tfの仕様について
footcoords.cpp内にはpublish_odom_tfというparamがあるのですが、これをfalseにしても、odom->root_linkへの変位0のtfが出続けるようです。
publish_odom_tfをfalseにした時に単純にodom->root_link間のtfを出さないようにするほうが、footcoords以外のodometryを使用してtfを出したいときに干渉しないので便利だと思うのですが、この仕様には何か理由があるのでしょうか？
eus_qp fails on indigo
eus_qp currently blocks http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jsk-install-setup/10/ROS_DISTRO=indigo,slave=ec2/consoleFull,
moveit/geometric_shapes#17 might be good example to fix this problem.
eus_nlopt cannot compile with `catkin build`
$ catkin b eus_nlopt -i -v
==> Expanding alias 'b' from 'catkin b eus_nlopt -i -v' to 'catkin build eus_nlopt -i -v'
------------------------------------------------------------
Profile: default
Extending: [cached] /opt/ros/hydro
Workspace: /home/hrpuser/ros/hydro
Source Space: [exists] /home/hrpuser/ros/hydro/src
Build Space: [exists] /home/hrpuser/ros/hydro/build
Devel Space: [exists] /home/hrpuser/ros/hydro/devel
Install Space: [missing] /home/hrpuser/ros/hydro/install
DESTDIR: None
------------------------------------------------------------
Isolate Develspaces: False
Install Packages: False
Isolate Installs: False
------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------
Found '209' packages in 0.4 seconds.
Starting ==> nlopt
[nlopt] ==> '/home/hrpuser/ros/hydro/build/nlopt/build_env.sh /usr/bin/make cmake_check_build_system' in '/home/hrpuser/ros/hydro/build/nlopt'
[nlopt] <== '/home/hrpuser/ros/hydro/build/nlopt/build_env.sh /usr/bin/make cmake_check_build_system' finished with return code '0'
[nlopt] ==> '/home/hrpuser/ros/hydro/build/nlopt/build_env.sh /usr/bin/make -j4 -l4' in '/home/hrpuser/ros/hydro/build/nlopt'
[nlopt] <== '/home/hrpuser/ros/hydro/build/nlopt/build_env.sh /usr/bin/make -j4 -l4' finished with return code '0'
Finished <== nlopt [ 0.5 seconds ]
Starting ==> eus_nlopt
[eus_nlopt] ==> '/home/hrpuser/ros/hydro/build/eus_nlopt/build_env.sh /usr/bin/cmake /home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_nlopt -DCATKIN_DEVEL_PREFIX=/home/hrpuser/ros/hydro/devel -DCMAKE_INSTALL_PREFIX=/home/hrpuser/ros/hydro/install' in '/home/hrpuser/ros/hydro/build/eus_nlopt'
[eus_nlopt] eus_nlopt: use catkin_make
[eus_nlopt] -- Using CATKIN_DEVEL_PREFIX: /home/hrpuser/ros/hydro/devel
[eus_nlopt] -- Using CMAKE_PREFIX_PATH: /home/hrpuser/ros/hydro/devel;/opt/ros/hydro
[eus_nlopt] -- This workspace overlays: /home/hrpuser/ros/hydro/devel;/opt/ros/hydro
[eus_nlopt] -- Using PYTHON_EXECUTABLE: /usr/bin/python
[eus_nlopt] -- Python version: 2.7
[eus_nlopt] -- Using Debian Python package layout
[eus_nlopt] -- Using CATKIN_ENABLE_TESTING: ON
[eus_nlopt] -- Call enable_testing()
[eus_nlopt] -- Using CATKIN_TEST_RESULTS_DIR: /home/hrpuser/ros/hydro/build/eus_nlopt/test_results
[eus_nlopt] -- Found gtest sources under '/usr/src/gtest': gtests will be built
[eus_nlopt] -- catkin 0.5.86
[eus_nlopt] CMake Error at /home/hrpuser/ros/hydro/devel/share/nlopt/cmake/nloptConfig.cmake:141 (message):
[eus_nlopt] Project 'eus_nlopt' tried to find library 'nlopt_cxx'. The library is
[eus_nlopt] neither a target nor built/installed properly. Did you compile project
[eus_nlopt] 'nlopt'? Did you find_package() it before the subdirectory containing its
[eus_nlopt] code is included?
[eus_nlopt] Call Stack (most recent call first):
[eus_nlopt] /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
[eus_nlopt] catkin.cmake:5 (find_package)
[eus_nlopt] CMakeLists.txt:4 (include)
[eus_nlopt]
[eus_nlopt]
[eus_nlopt] -- Configuring incomplete, errors occurred!
[eus_nlopt] <== '/home/hrpuser/ros/hydro/build/eus_nlopt/build_env.sh /usr/bin/cmake /home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_nlopt -DCATKIN_DEVEL_PREFIX=/home/hrpuser/ros/hydro/devel -DCMAKE_INSTALL_PREFIX=/home/hrpuser/ros/hydro/install' failed with return code '1'
[build] There were errors:
Failed to build package 'eus_nlopt' because the following command:
# Command run in directory: /home/hrpuser/ros/hydro/build/eus_nlopt
/home/hrpuser/ros/hydro/build/eus_nlopt/build_env.sh /usr/bin/cmake /home/hrpuser/ros/hydro/src/jsk-ros-pkg/jsk_control/eus_nlopt -DCATKIN_DEVEL_PREFIX=/home/hrpuser/ros/hydro/devel -DCMAKE_INSTALL_PREFIX=/home/hrpuser/ros/hydro/install
Exited with return code: 1
[build] Runtime: 3.2 seconds
jsk_teleop_joy missing dep on jsk_rviz_plugins.msg
I know how to work around, but:
Traceback (most recent call last):
File "/home/dave/ros/ws_jsk/src/jsk_teleop_joy/src/jsk_teleop_joy/joy.py", line 21, in <module>
from jsk_rviz_plugins.msg import OverlayMenu
ImportError: No module named jsk_rviz_plugins.msg
joy.py does not run in groovy
joy.py が groovy で動きません
$ rosrun jsk_teleop_joy joy.py
Traceback (most recent call last):
File "/home/furuta/ros/groovy/jsk-ros-pkg/jsk_control/jsk_teleop_joy/src/jsk_teleop_joy/joy.py", line 25, in <module>
from diagnostic_updater import Updater as DiagnosticUpdater
ImportError: No module named diagnostic_updater
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