pr2 / pr2_robot Goto Github PK

When we switch from pr2_defs to pr2_descriptions, some frame names will have to be changed in node params. Known so far: base_laser -> base_laser_link.

trac data:

• Owner: hsu
• Reporter: bhaskara
• Reported at: Tue Nov 3 11:22:48 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3047

It currently lives in the pr2 stack, which will not get released. THe pr2_computer_monitor is used in the default pr2 bringup.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Thu Dec 17 16:58:01 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3309

Anwyl has kindly provided the data, will update.

trac data:

• Owner: watts
• Reporter: watts
• Reported at: Wed Dec 16 15:17:43 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3286

Write/collect descriptions of desired pr2core functionality / usage

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Mon Jul 20 13:59:47 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1873

When launch hcc.launch, I get an error about rosrecord unable to access /hwlog.
The directory exists but I do not have write access. Blaise tried on... pre? and the same issue arose. I have write access when running on hca.

trac data:

• Owner: leibs
• Reporter: thibaux
• Reported at: Fri Oct 23 13:20:26 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2963

there can be only one. we really can't have this live in our repo with more tools coming online that could get confused, especially since the one that's in trunk/pr2 is override stacks/pr2

trac data:

• Owner: berger
• Reporter: kwc
• Reported at: Tue Aug 18 00:46:22 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2464

currently in sandbox due to pr2_drivers death

trac data:

• Owner: berger
• Reporter: kwc
• Reported at: Tue Aug 18 01:09:04 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2469

There are about 20 warnings that get printed when launching pre.launch related to missing coefficients in the PR2GripperTransmision.

{{{
PR2GripperTransmission's joint "r_gripper_joint" has no coefficient: theta0, using default for PR2 alpha2.
}}}

I'm guessing this has to do with something missing from our URDF.

trac data:

• Owner: hsu
• Reporter: leibs
• Reported at: Fri Nov 27 17:18:41 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3148

I run rosmake pr2_dashboard.

Then I run rosrun pr2_dashboard pr2_dashboard and get the following:

ultimately pr2_dashboard will run if I build enough random things, but it would be nice to fix the dependencies.

{{{
cmeyers@ots:~/projects/ros$ rosrun pr2_dashboard pr2_dashboard
Traceback (most recent call last):
File "/u/cmeyers/projects/ros/ros-pkg/stacks/pr2/pr2_dashboard/scripts/pr2_dashboard", line 50, in
import pr2_dashboard
File "/u/cmeyers/projects/ros/ros-pkg/stacks/pr2/pr2_dashboard/src/pr2_dashboard/init.py", line 1, in
from pr2_frame import *
File "/u/cmeyers/projects/ros/ros-pkg/stacks/pr2/pr2_dashboard/src/pr2_dashboard/pr2_frame.py", line 48, in
import hardware_panel
File "/u/cmeyers/projects/ros/ros-pkg/stacks/pr2/pr2_dashboard/src/pr2_dashboard/hardware_panel.py", line 41, in
from ocean_battery_driver.ibps_panel import *
File "/u/cmeyers/projects/ros/ros-pkg/stacks/pr2_drivers/ocean_battery_driver/src/ocean_battery_driver/ibps_panel.py", line 43, in
from robot_msgs.msg import *
File "/u/cmeyers/projects/ros/ros-pkg/stacks/common_msgs/robot_msgs/src/robot_msgs/msg/init.py", line 2, in
from _VOPose import *
File "/u/cmeyers/projects/ros/ros-pkg/stacks/common_msgs/robot_msgs/src/robot_msgs/msg/_VOPose.py", line 5, in
import geometry_msgs.msg
ImportError: No module named geometry_msgs.msg

}}}

trac data:

• Owner: jfaust
• Reporter: cmeyers
• Reported at: Mon Aug 10 13:19:55 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2346

The mechanism_bringup package is part of the mechanism stack, but it depends on a number of controllers that are not part of any stack. This package contains two scripts to calibrate the robot. The scripts do not belong in the mechanism stack, and should either be moved to the package with the controllers it depends on, or become a package outside of the mechanism stack.

trac data:

• Owner: wim
• Reporter: meeussen
• Reported at: Tue Aug 11 17:26:55 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2366

on prg with the build from dec 20th.

Logfile below:
{{{
root@prh1:/u/gerkey/.ros/log/eb036992-ee6e-11de-b257-001517c01bcb# cat calibrate_pr2-1.log
[INFO] 2009-12-21 12:49:07,161: init_node, name[/calibrate_pr2], pid[8753]
[INFO] 2009-12-21 12:49:07,180: Node initialized: callerId[/calibrate_pr2] local name[calibrate_pr2] port[None]
[INFO] 2009-12-21 12:49:07,181: XML-RPC server binding to 0.0.0.0
[INFO] 2009-12-21 12:49:07,181: Started XML-RPC server [http://prh2:33381/]
[INFO] 2009-12-21 12:49:07,182: _ready: http://prh2:33381/
[INFO] 2009-12-21 12:49:07,182: xml rpc node: starting XML-RPC server
[INFO] 2009-12-21 12:49:07,182: ROS Slave URI: [http://prh2:33381/]
[INFO] 2009-12-21 12:49:07,206: Registering with master node http://prh1:11311/
[INFO] 2009-12-21 12:49:07,241: Registering publisher topic [/calibrated] type [std_msgs/Bool] with master
[DEBUG] 2009-12-21 12:49:07,254: Registered [/calibrate_pr2] with master node http://prh1:11311/
[DEBUG] 2009-12-21 12:49:07,268: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 12:49:07,268: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 12:49:07,268: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:48146', ['TCPROS', 'prh2', 48146])
[DEBUG] 2009-12-21 12:49:07,273: [/calibrated]: writing header
[DEBUG] 2009-12-21 12:49:07,280: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 12:49:07,280: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 12:49:07,280: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:48146', ['TCPROS', 'prh2', 48146])
[DEBUG] 2009-12-21 12:49:07,283: [/calibrated]: writing header
[INFO] 2009-12-21 12:49:07,341: registered with master
[DEBUG] 2009-12-21 12:49:07,342: getMasterUri('/calibrate_pr2',)
[DEBUG] 2009-12-21 12:49:07,343: getMasterUri('/calibrate_pr2',) returns (1, 'http://prh1:11311/', 'http://prh1:11311/')
[INFO] 2009-12-21 12:49:07,345: initializing /rosout core topic
[DEBUG] 2009-12-21 12:49:07,346: tm._add: /rosout, roslib/Log, pub
[DEBUG] 2009-12-21 12:49:07,346: master.registerPublisher(/calibrate_pr2, /rosout, roslib/Log, http://prh2:33381/)
[INFO] 2009-12-21 12:49:07,351: connected to core topic /rosout
[DEBUG] 2009-12-21 12:49:07,352: init_node, name[/calibrate_pr2], pid[8753]
[INFO] 2009-12-21 12:49:07,352: initializing /clock core topic
[DEBUG] 2009-12-21 12:49:07,353: tm._add: /clock, roslib/Clock, sub
[DEBUG] 2009-12-21 12:49:07,353: master.registerSubscriber(/calibrate_pr2, /clock, roslib/Clock, http://prh2:33381/)
[INFO] 2009-12-21 12:49:07,356: connected to core topic /time
[INFO] 2009-12-21 12:49:07,357: initializing /time core topic
[DEBUG] 2009-12-21 12:49:07,357: tm._add: /time, roslib/Time, sub
[DEBUG] 2009-12-21 12:49:07,358: master.registerSubscriber(/calibrate_pr2, /time, roslib/Time, http://prh2:33381/)
[INFO] 2009-12-21 12:49:07,365: connected to core topic /time
[DEBUG] 2009-12-21 12:49:07,370: tm._add: /calibration_status, std_msgs/String, pub
[DEBUG] 2009-12-21 12:49:07,370: master.registerPublisher(/calibrate_pr2, /calibration_status, std_msgs/String, http://prh2:33381/)
[DEBUG] 2009-12-21 12:49:07,379: requestTopic('/rosout', '/rosout', [['TCPROS']])
[DEBUG] 2009-12-21 12:49:07,379: requestTopic[/rosout]: choosing protocol TCPROS
[DEBUG] 2009-12-21 12:49:07,380: requestTopic('/rosout', '/rosout', [['TCPROS']]) returns (1, 'ready on prh2:48146', ['TCPROS', 'prh2', 48146])
[INFO] 2009-12-21 12:49:07,380: signal_shutdown [atexit]
[DEBUG] 2009-12-21 12:49:07,381: registration cleanup starting
[DEBUG] 2009-12-21 12:49:07,381: unregisterSubscriber [/clock]
[DEBUG] 2009-12-21 12:49:07,385: unregisterSubscriber [/time]
[DEBUG] 2009-12-21 12:49:07,388: unregisterPublisher [/rosout]
[DEBUG] 2009-12-21 12:49:07,393: unregisterPublisher [/calibrated]
[DEBUG] 2009-12-21 12:49:07,393: [/rosout]: writing header
[DEBUG] 2009-12-21 12:49:07,397: unregisterPublisher [/calibration_status]
[DEBUG] 2009-12-21 12:49:07,401: registration cleanup: master calls complete
[INFO] 2009-12-21 12:49:07,401: atexit
[INFO] 2009-12-21 13:10:34,995: init_node, name[/calibrate_pr2], pid[10193]
[INFO] 2009-12-21 13:10:35,016: Node initialized: callerId[/calibrate_pr2] local name[calibrate_pr2] port[None]
[INFO] 2009-12-21 13:10:35,017: XML-RPC server binding to 0.0.0.0
[INFO] 2009-12-21 13:10:35,017: Started XML-RPC server [http://prh2:50918/]
[INFO] 2009-12-21 13:10:35,017: ROS Slave URI: [http://prh2:50918/]
[INFO] 2009-12-21 13:10:35,018: _ready: http://prh2:50918/
[INFO] 2009-12-21 13:10:35,018: xml rpc node: starting XML-RPC server
[INFO] 2009-12-21 13:10:35,040: Registering with master node http://prh1:11311/
[INFO] 2009-12-21 13:10:35,041: Registering publisher topic [/calibrated] type [std_msgs/Bool] with master
[DEBUG] 2009-12-21 13:10:35,051: Registered [/calibrate_pr2] with master node http://prh1:11311/
[DEBUG] 2009-12-21 13:10:35,059: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:10:35,059: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:10:35,060: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:45131', ['TCPROS', 'prh2', 45131])
[DEBUG] 2009-12-21 13:10:35,062: [/calibrated]: writing header
[INFO] 2009-12-21 13:10:35,118: registered with master
[DEBUG] 2009-12-21 13:10:35,120: getMasterUri('/calibrate_pr2',)
[DEBUG] 2009-12-21 13:10:35,121: getMasterUri('/calibrate_pr2',) returns (1, 'http://prh1:11311/', 'http://prh1:11311/')
[INFO] 2009-12-21 13:10:35,126: initializing /rosout core topic
[DEBUG] 2009-12-21 13:10:35,127: tm._add: /rosout, roslib/Log, pub
[DEBUG] 2009-12-21 13:10:35,127: master.registerPublisher(/calibrate_pr2, /rosout, roslib/Log, http://prh2:50918/)
[INFO] 2009-12-21 13:10:35,130: connected to core topic /rosout
[DEBUG] 2009-12-21 13:10:35,131: init_node, name[/calibrate_pr2], pid[10193]
[INFO] 2009-12-21 13:10:35,131: initializing /clock core topic
[DEBUG] 2009-12-21 13:10:35,131: tm._add: /clock, roslib/Clock, sub
[DEBUG] 2009-12-21 13:10:35,132: master.registerSubscriber(/calibrate_pr2, /clock, roslib/Clock, http://prh2:50918/)
[INFO] 2009-12-21 13:10:35,136: connected to core topic /time
[INFO] 2009-12-21 13:10:35,137: initializing /time core topic
[DEBUG] 2009-12-21 13:10:35,137: tm._add: /time, roslib/Time, sub
[DEBUG] 2009-12-21 13:10:35,137: master.registerSubscriber(/calibrate_pr2, /time, roslib/Time, http://prh2:50918/)
[DEBUG] 2009-12-21 13:10:35,143: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:10:35,144: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:10:35,144: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:45131', ['TCPROS', 'prh2', 45131])
[INFO] 2009-12-21 13:10:35,145: connected to core topic /time
[DEBUG] 2009-12-21 13:10:35,148: [/calibrated]: writing header
[DEBUG] 2009-12-21 13:10:35,149: tm._add: /calibration_status, std_msgs/String, pub
[DEBUG] 2009-12-21 13:10:35,150: master.registerPublisher(/calibrate_pr2, /calibration_status, std_msgs/String, http://prh2:50918/)
[INFO] 2009-12-21 13:10:35,160: signal_shutdown [atexit]
[DEBUG] 2009-12-21 13:10:35,160: registration cleanup starting
[DEBUG] 2009-12-21 13:10:35,161: unregisterSubscriber [/clock]
[DEBUG] 2009-12-21 13:10:35,170: unregisterSubscriber [/time]
[DEBUG] 2009-12-21 13:10:35,175: requestTopic('/rosout', '/rosout', [['TCPROS']])
[DEBUG] 2009-12-21 13:10:35,175: requestTopic[/rosout]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:10:35,175: requestTopic('/rosout', '/rosout', [['TCPROS']]) returns (1, 'ready on prh2:45131', ['TCPROS', 'prh2', 45131])
[DEBUG] 2009-12-21 13:10:35,177: unregisterPublisher [/rosout]
[DEBUG] 2009-12-21 13:10:35,181: unregisterPublisher [/calibrated]
[DEBUG] 2009-12-21 13:10:35,185: unregisterPublisher [/calibration_status]
[DEBUG] 2009-12-21 13:10:35,187: [/rosout]: writing header
[DEBUG] 2009-12-21 13:10:35,190: registration cleanup: master calls complete
[INFO] 2009-12-21 13:10:35,190: atexit
[INFO] 2009-12-21 13:12:10,379: init_node, name[/calibrate_pr2], pid[11350]
[INFO] 2009-12-21 13:12:10,416: Node initialized: callerId[/calibrate_pr2] local name[calibrate_pr2] port[None]
[INFO] 2009-12-21 13:12:10,416: XML-RPC server binding to 0.0.0.0
[INFO] 2009-12-21 13:12:10,417: Started XML-RPC server [http://prh2:34513/]
[INFO] 2009-12-21 13:12:10,417: ROS Slave URI: [http://prh2:34513/]
[INFO] 2009-12-21 13:12:10,417: _ready: http://prh2:34513/
[INFO] 2009-12-21 13:12:10,417: xml rpc node: starting XML-RPC server
[INFO] 2009-12-21 13:12:10,438: Registering with master node http://prh1:11311/
[INFO] 2009-12-21 13:12:10,439: Registering publisher topic [/calibrated] type [std_msgs/Bool] with master
[DEBUG] 2009-12-21 13:12:10,457: Registered [/calibrate_pr2] with master node http://prh1:11311/
[DEBUG] 2009-12-21 13:12:10,468: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:12:10,468: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:12:10,469: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:49805', ['TCPROS', 'prh2', 49805])
[DEBUG] 2009-12-21 13:12:10,472: [/calibrated]: writing header
[DEBUG] 2009-12-21 13:12:10,514: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:12:10,514: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:12:10,515: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:49805', ['TCPROS', 'prh2', 49805])
[INFO] 2009-12-21 13:12:10,517: registered with master
[DEBUG] 2009-12-21 13:12:10,518: [/calibrated]: writing header
[DEBUG] 2009-12-21 13:12:10,519: getMasterUri('/calibrate_pr2',)
[DEBUG] 2009-12-21 13:12:10,520: getMasterUri('/calibrate_pr2',) returns (1, 'http://prh1:11311/', 'http://prh1:11311/')
[INFO] 2009-12-21 13:12:10,522: initializing /rosout core topic
[DEBUG] 2009-12-21 13:12:10,523: tm._add: /rosout, roslib/Log, pub
[DEBUG] 2009-12-21 13:12:10,523: master.registerPublisher(/calibrate_pr2, /rosout, roslib/Log, http://prh2:34513/)
[INFO] 2009-12-21 13:12:10,526: connected to core topic /rosout
[DEBUG] 2009-12-21 13:12:10,526: init_node, name[/calibrate_pr2], pid[11350]
[INFO] 2009-12-21 13:12:10,527: initializing /clock core topic
[DEBUG] 2009-12-21 13:12:10,527: tm._add: /clock, roslib/Clock, sub
[DEBUG] 2009-12-21 13:12:10,527: master.registerSubscriber(/calibrate_pr2, /clock, roslib/Clock, http://prh2:34513/)
[INFO] 2009-12-21 13:12:10,530: connected to core topic /time
[INFO] 2009-12-21 13:12:10,530: initializing /time core topic
[DEBUG] 2009-12-21 13:12:10,531: tm._add: /time, roslib/Time, sub
[DEBUG] 2009-12-21 13:12:10,531: master.registerSubscriber(/calibrate_pr2, /time, roslib/Time, http://prh2:34513/)
[INFO] 2009-12-21 13:12:10,534: connected to core topic /time
[DEBUG] 2009-12-21 13:12:10,536: tm._add: /calibration_status, std_msgs/String, pub
[DEBUG] 2009-12-21 13:12:10,537: master.registerPublisher(/calibrate_pr2, /calibration_status, std_msgs/String, http://prh2:34513/)
[INFO] 2009-12-21 13:12:10,546: signal_shutdown [atexit]
[DEBUG] 2009-12-21 13:12:10,546: registration cleanup starting
[DEBUG] 2009-12-21 13:12:10,547: unregisterSubscriber [/clock]
[DEBUG] 2009-12-21 13:12:10,550: unregisterSubscriber [/time]
[DEBUG] 2009-12-21 13:12:10,552: unregisterPublisher [/rosout]
[DEBUG] 2009-12-21 13:12:10,556: unregisterPublisher [/calibrated]
[DEBUG] 2009-12-21 13:12:10,558: unregisterPublisher [/calibration_status]
[DEBUG] 2009-12-21 13:12:10,561: registration cleanup: master calls complete
[INFO] 2009-12-21 13:12:10,562: atexit
[DEBUG] 2009-12-21 13:12:10,594: requestTopic('/rosout', '/rosout', [['TCPROS']])
[DEBUG] 2009-12-21 13:12:10,594: requestTopic('/rosout', '/rosout', [['TCPROS']]) returns (-1, 'Not a publisher of [/rosout]', [])
[INFO] 2009-12-21 13:16:05,422: init_node, name[/calibrate_pr2], pid[13236]
[INFO] 2009-12-21 13:16:05,441: Node initialized: callerId[/calibrate_pr2] local name[calibrate_pr2] port[None]
[INFO] 2009-12-21 13:16:05,441: XML-RPC server binding to 0.0.0.0
[INFO] 2009-12-21 13:16:05,442: Started XML-RPC server [http://prh2:47022/]
[INFO] 2009-12-21 13:16:05,443: _ready: http://prh2:47022/
[INFO] 2009-12-21 13:16:05,443: xml rpc node: starting XML-RPC server
[INFO] 2009-12-21 13:16:05,442: ROS Slave URI: [http://prh2:47022/]
[INFO] 2009-12-21 13:16:05,466: Registering with master node http://prh1:11311/
[INFO] 2009-12-21 13:16:05,469: Registering publisher topic [/calibrated] type [std_msgs/Bool] with master
[DEBUG] 2009-12-21 13:16:05,482: Registered [/calibrate_pr2] with master node http://prh1:11311/
[DEBUG] 2009-12-21 13:16:05,495: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:16:05,496: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:16:05,496: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:47444', ['TCPROS', 'prh2', 47444])
[DEBUG] 2009-12-21 13:16:05,499: [/calibrated]: writing header
[DEBUG] 2009-12-21 13:16:05,541: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:16:05,541: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:16:05,542: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:47444', ['TCPROS', 'prh2', 47444])
[DEBUG] 2009-12-21 13:16:05,545: [/calibrated]: writing header
[INFO] 2009-12-21 13:16:05,568: registered with master
[DEBUG] 2009-12-21 13:16:05,570: getMasterUri('/calibrate_pr2',)
[DEBUG] 2009-12-21 13:16:05,570: getMasterUri('/calibrate_pr2',) returns (1, 'http://prh1:11311/', 'http://prh1:11311/')
[INFO] 2009-12-21 13:16:05,573: initializing /rosout core topic
[DEBUG] 2009-12-21 13:16:05,574: tm._add: /rosout, roslib/Log, pub
[DEBUG] 2009-12-21 13:16:05,574: master.registerPublisher(/calibrate_pr2, /rosout, roslib/Log, http://prh2:47022/)
[INFO] 2009-12-21 13:16:05,577: connected to core topic /rosout
[DEBUG] 2009-12-21 13:16:05,578: init_node, name[/calibrate_pr2], pid[13236]
[INFO] 2009-12-21 13:16:05,579: initializing /clock core topic
[DEBUG] 2009-12-21 13:16:05,579: tm._add: /clock, roslib/Clock, sub
[DEBUG] 2009-12-21 13:16:05,580: master.registerSubscriber(/calibrate_pr2, /clock, roslib/Clock, http://prh2:47022/)
[INFO] 2009-12-21 13:16:05,583: connected to core topic /time
[INFO] 2009-12-21 13:16:05,584: initializing /time core topic
[DEBUG] 2009-12-21 13:16:05,584: tm._add: /time, roslib/Time, sub
[DEBUG] 2009-12-21 13:16:05,585: master.registerSubscriber(/calibrate_pr2, /time, roslib/Time, http://prh2:47022/)
[INFO] 2009-12-21 13:16:05,589: connected to core topic /time
[DEBUG] 2009-12-21 13:16:05,592: tm._add: /calibration_status, std_msgs/String, pub
[DEBUG] 2009-12-21 13:16:05,593: master.registerPublisher(/calibrate_pr2, /calibration_status, std_msgs/String, http://prh2:47022/)
[INFO] 2009-12-21 13:16:05,603: signal_shutdown [atexit]
[DEBUG] 2009-12-21 13:16:05,603: registration cleanup starting
[DEBUG] 2009-12-21 13:16:05,603: unregisterSubscriber [/clock]
[DEBUG] 2009-12-21 13:16:05,607: unregisterSubscriber [/time]
[DEBUG] 2009-12-21 13:16:05,610: unregisterPublisher [/rosout]
[DEBUG] 2009-12-21 13:16:05,611: requestTopic('/rosout', '/rosout', [['TCPROS']])
[DEBUG] 2009-12-21 13:16:05,612: requestTopic[/rosout]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:16:05,613: requestTopic('/rosout', '/rosout', [['TCPROS']]) returns (1, 'ready on prh2:47444', ['TCPROS', 'prh2', 47444])
[DEBUG] 2009-12-21 13:16:05,614: unregisterPublisher [/calibrated]
[DEBUG] 2009-12-21 13:16:05,627: unregisterPublisher [/calibration_status]
[DEBUG] 2009-12-21 13:16:05,628: [/rosout]: writing header
[DEBUG] 2009-12-21 13:16:05,632: registration cleanup: master calls complete
[INFO] 2009-12-21 13:16:05,633: atexit
[INFO] 2009-12-21 13:20:50,852: init_node, name[/calibrate_pr2], pid[14518]
[INFO] 2009-12-21 13:20:50,873: Node initialized: callerId[/calibrate_pr2] local name[calibrate_pr2] port[None]
[INFO] 2009-12-21 13:20:50,874: XML-RPC server binding to 0.0.0.0
[INFO] 2009-12-21 13:20:50,875: Started XML-RPC server [http://prh2:40396/]
[INFO] 2009-12-21 13:20:50,875: ROS Slave URI: [http://prh2:40396/]
[INFO] 2009-12-21 13:20:50,875: _ready: http://prh2:40396/
[INFO] 2009-12-21 13:20:50,876: xml rpc node: starting XML-RPC server
[INFO] 2009-12-21 13:20:50,894: Registering with master node http://prh1:11311/
[INFO] 2009-12-21 13:20:50,895: Registering publisher topic [/calibrated] type [std_msgs/Bool] with master
[DEBUG] 2009-12-21 13:20:50,908: Registered [/calibrate_pr2] with master node http://prh1:11311/
[INFO] 2009-12-21 13:20:50,976: registered with master
[DEBUG] 2009-12-21 13:20:50,977: getMasterUri('/calibrate_pr2',)
[DEBUG] 2009-12-21 13:20:50,978: getMasterUri('/calibrate_pr2',) returns (1, 'http://prh1:11311/', 'http://prh1:11311/')
[INFO] 2009-12-21 13:20:50,980: initializing /rosout core topic
[DEBUG] 2009-12-21 13:20:50,980: tm._add: /rosout, roslib/Log, pub
[DEBUG] 2009-12-21 13:20:50,980: master.registerPublisher(/calibrate_pr2, /rosout, roslib/Log, http://prh2:40396/)
[INFO] 2009-12-21 13:20:50,984: connected to core topic /rosout
[DEBUG] 2009-12-21 13:20:50,984: init_node, name[/calibrate_pr2], pid[14518]
[INFO] 2009-12-21 13:20:50,984: initializing /clock core topic
[DEBUG] 2009-12-21 13:20:50,985: tm._add: /clock, roslib/Clock, sub
[DEBUG] 2009-12-21 13:20:50,985: master.registerSubscriber(/calibrate_pr2, /clock, roslib/Clock, http://prh2:40396/)
[INFO] 2009-12-21 13:20:50,988: connected to core topic /time
[INFO] 2009-12-21 13:20:50,989: initializing /time core topic
[DEBUG] 2009-12-21 13:20:50,989: tm._add: /time, roslib/Time, sub
[DEBUG] 2009-12-21 13:20:50,990: master.registerSubscriber(/calibrate_pr2, /time, roslib/Time, http://prh2:40396/)
[INFO] 2009-12-21 13:20:50,992: connected to core topic /time
[DEBUG] 2009-12-21 13:20:50,995: tm._add: /calibration_status, std_msgs/String, pub
[DEBUG] 2009-12-21 13:20:50,995: master.registerPublisher(/calibrate_pr2, /calibration_status, std_msgs/String, http://prh2:40396/)
[DEBUG] 2009-12-21 13:20:50,996: requestTopic('/rosout', '/rosout', [['TCPROS']])
[DEBUG] 2009-12-21 13:20:50,998: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:20:50,999: requestTopic[/rosout]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:20:50,999: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:20:51,001: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']])
[DEBUG] 2009-12-21 13:20:51,002: requestTopic('/rosout', '/rosout', [['TCPROS']]) returns (1, 'ready on prh2:34470', ['TCPROS', 'prh2', 34470])
[DEBUG] 2009-12-21 13:20:51,002: requestTopic[/calibrated]: choosing protocol TCPROS
[DEBUG] 2009-12-21 13:20:51,002: requestTopic('/default_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:34470', ['TCPROS', 'prh2', 34470])
[DEBUG] 2009-12-21 13:20:51,005: requestTopic('/default_loaded_controllers_spawner', '/calibrated', [['TCPROS']]) returns (1, 'ready on prh2:34470', ['TCPROS', 'prh2', 34470])
[DEBUG] 2009-12-21 13:20:51,008: [/calibrated]: writing header
[DEBUG] 2009-12-21 13:20:51,009: [/calibrated]: writing header
[INFO] 2009-12-21 13:20:51,014: signal_shutdown [atexit]
[DEBUG] 2009-12-21 13:20:51,015: registration cleanup starting
[DEBUG] 2009-12-21 13:20:51,015: [/rosout]: writing header
[DEBUG] 2009-12-21 13:20:51,016: unregisterSubscriber [/clock]
[DEBUG] 2009-12-21 13:20:51,019: unregisterSubscriber [/time]
[DEBUG] 2009-12-21 13:20:51,023: unregisterPublisher [/rosout]
[DEBUG] 2009-12-21 13:20:51,026: unregisterPublisher [/calibrated]
[DEBUG] 2009-12-21 13:20:51,029: unregisterPublisher [/calibration_status]
[DEBUG] 2009-12-21 13:20:51,031: registration cleanup: master calls complete
[INFO] 2009-12-21 13:20:51,032: atexit

}}}

trac data:

• Owner: wim
• Reporter: berger
• Reported at: Mon Dec 21 13:25:26 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3336

When running high level regression tests in gazebo (such as open door), there are some basic components that do not get tested because they are only used on the real robot. Calibration is an obvious one, but there must be more components like this. We should get regression tests for these components too. It is obviously not realistic to run patches on the robot before checking them in.

trac data:

• Owner: wim
• Reporter: meeussen
• Reported at: Sat Aug 29 09:58:25 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2670

revision 5383

Following an instruction in regression test procedure:

cd /bags && rosrun rosrecord rosrecord /tf_message /narrow_stereo/raw_stereo

I get the following error:

[FATAL] 1248805658.475971000: ASSERTION FAILED
file = /u/jbohren/ros/ros/tools/rosrecord/src/rosrecord/recorder.cpp
line = 242
cond = message_buf_

/u/jbohren/ros/ros/bin/rosrun: line 35: 28687 Trace/breakpoint trap $exepath "$@"

trac data:

• Owner: leibs
• Reporter: mcgann
• Reported at: Tue Jul 28 11:51:12 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1992

Make sure everything parses and passes.

trac data:

• Owner: wim
• Reporter: watts
• Reported at: Tue Dec 1 22:14:07 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3168

The current solution of loading prg.urdf.xacro into /etc/... doesn't work because parse tests won't pass, and people can't launch the robot from off-board (like the self-test system).

Ideally, the solution would combine having a different URDF for every PR2 that is installed using the "branding" script, and still somehow manage to parse it and launch it off board.

Maybe we could give optional params to xacro or something.

trac data:

• Owner: watts
• Reporter: watts
• Reported at: Wed Dec 2 21:39:40 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3172

right now in wg-ros-pkg/robot_description/pr2/pr2_experimental_controller

trac data:

• Owner: hsu
• Reporter: hsu
• Reported at: Mon Dec 7 10:55:55 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3189

Define location for robot data shared between users (calibration data, learned maps, etc.).

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Wed Jun 17 12:14:15 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1619

Need to re-think where pr2 default definitions go and make this clean. Dependency on teleop_base is wrong.

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Wed Aug 5 15:47:54 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2212

System was missing deadlines when Eitan ran gathering huge logfiles and firing watchdog.

This also caused two MCBs to not go down on PRE.

Eitan should know how to duplicate.

trac data:

• Owner: wheeler
• Reporter: berger
• Reported at: Mon Nov 9 17:12:10 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3083

Create pr2core launch file, which will start the roscore and basic pr2 services. In the future, will include Web UI

trac data:

• Owner: berger
• Reporter: kwc
• Reported at: Wed Jul 29 15:48:46 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2045

The scripts in mechanism_bringup keep breaking. Yesterday, calibrate wouldn't work because mechanism_msgs hadn't been renamed with the "pr2" prefix. Today, the torso lift wouldn't move up, because the "set_command" was replaced by "command" for the position controllers. This is very problematic, and very annoying.

1. We need to combine calibrate and calibrate_pr2. This can solve problems where people only update one scripte
2. This needs a unit test of some kind to verify functionality. I'm not sure how to do this, but this is not working.

trac data:

• Owner: watts
• Reporter: watts
• Reported at: Thu Sep 3 14:29:13 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2739

This is an important for full robot integration and bring up. We need to make sure the head moves properly. The teleop head controller publishes on the head position controller topic, but the trajectory controller is loaded.

We need to change the topic name of the teleop_pr2 node, and change the head joint states message to the correct format.

For betas, we're using the same teleop_pr2 node that the Alphas use. This fix should be compatible with Alpha and Beta robots.

trac data:

• Owner: sglaser
• Reporter: watts
• Reported at: Tue Dec 22 13:27:54 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3348

We should move the PR2 Alpha stuff and deprecate it. Currently we have _beta.yaml.

When everything moves, all the stuff in qualification and life_test should use pr2_calibration_controllers.yaml (BETA) and pr2_alpha and pr2_head_cart should be _alpha.

trac data:

• Owner: berger
• Reporter: watts
• Reported at: Fri Nov 13 14:56:26 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3106

Start working out kinks with a pr2core installation, in particular, problems with how rosconfig models the environment

trac data:

• Owner: berger
• Reporter: kwc
• Reported at: Wed Jul 29 15:49:32 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2046

{{{
roslaunch test_pr2_2dnav_gazebo test_pr2_2dnav_empty_axis.launch
}}}

tuckarm.py prints this error:

{{{
[ERROR] 1262024213.867811: Controller r_arm_controller is not loaded
}}}

and then crashes.

trac data:

• Owner: sglaser
• Reporter: sglaser
• Reported at: Mon Dec 28 10:20:23 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3376

It's very hard to figure out that you've accidentally run the master on the wrong machine. Some users think that by typing the alias "prg" on their local machine that they will run the master remotely. It needs to be very obvious where a master is running, for example printed at the beginning of every output line in the master terminal (otherwise it goes off the screen). Also, roslaunch messages that complain about connectivity to the master need to state where they are looking for the master.

M3 usability tickets:
https://prdev.willowgarage.com/trac/m3/ticket/251
https://prdev.willowgarage.com/trac/m3/ticket/252

trac data:

• Owner: berger
• Reporter: pantofaru
• Reported at: Fri Aug 28 17:10:37 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2660

To upgrade the wge100 cameras, the following command should be run at
some point after ROS is installed. (It has to be an up to date tree in
order to get the latest firmware.)

This command must run with no wge100 camera drivers running. (I.e.,
pr?.launch should be down)

{{{
rosrun wge100_camera update_robot.sh
}}}

trac data:

• Owner: leibs
• Reporter: blaise
• Reported at: Tue Dec 15 11:52:31 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3269

r20193 adds invocation of mechanism_control/joints_to_diagnostics.py with an invalid tag, using "node=" instead of "type=".

The launch bails out immediately.

Please try out changes to these incredibly important launch files on the robot prior to committing them.

trac data:

• Owner: sglaser
• Reporter: gerkey
• Reported at: Fri Jul 31 09:24:09 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2109

This package is in a way similar to the pr2_camera_synchronization. We might decide to move both packages somewhere else.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Thu Dec 17 17:30:46 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3312

currently only in pr2_defs

trac data:

• Owner: hsu
• Reporter: hsu
• Reported at: Wed Dec 2 17:29:34 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3171

It holds the default configurations, not the default controllers themselves

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Thu Oct 8 16:00:44 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2879

Verify that load is small unless someone is subscribed.

trac data:

• Owner: wim
• Reporter: berger
• Reported at: Mon Dec 28 14:03:38 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3379

Define set of processes that run long-term on robot, and make them start on startup. Change launch files so that use of the robot doesn't interfere with these.

This may use the rosinit system that Scott is working on

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Wed Jun 17 12:20:18 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1623

It seems like we're not yet completely robust when calibrating the pr2. I have seen the gripper get stuck a few times already. Maybe the spine should move up a little higher? See attached screenshot.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Fri Dec 18 10:59:32 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3321

No reason for these to be here.

trac data:

• Owner: wim
• Reporter: watts
• Reported at: Mon Dec 21 21:57:57 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3343

per ticket #3253, atof() does not catch this case.

trac data:

• Owner: hsu
• Reporter: hsu
• Reported at: Mon Dec 14 10:08:50 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3254

Otherwise, when it brings up the loose versions, the two fight.

I have a hacked version that works by adding in

to controllers.launch, but this doesn't seem like the best solution.

trac data:

• Owner: vpradeep
• Reporter: berger
• Reported at: Thu Dec 17 01:22:59 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3295

Before move, make sure Blaise has no local changes in that package

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Thu Dec 17 17:08:17 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3311

It looks like pr2_camera_synchronization ended up in the pr2_robot_alpha package, but it's needed to run stereo on the new robots.

Was there a reason for that, or should it be moved over?

trac data:

• Owner: wim
• Reporter: berger
• Reported at: Mon Dec 21 16:25:25 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3340

Calibrate pr2:

• uses 40+ top level namespaces on the parameter server, plus
• it permanently advertises about 15 topics for controllers that get unloaded after calibration, and
• if remains subscribed to 20+ topics that are published by controllers that get unloaded after calibration.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Tue Dec 15 09:45:59 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3263

just a small web server that can flick the roslaunch of pr2core

trac data:

• Owner: wheeler
• Reporter: kwc
• Reported at: Wed Jul 29 15:47:10 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2044

This was created as the holding place for the PR2-specific footprint filters so that they could be deprecated from laser_filters.

pr2_common isn't necessarily the right component for this, but there's no more specific pr2 category.

trac data:

• Owner: berger
• Reporter: leibs
• Reported at: Mon Oct 5 17:34:01 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2849

Write an aggregator which extracts the most important information from diagnostics and other information streams, such as e-stop state, battery charge state, etc. and creates an output with the unified information the the dashboard and/or web interface need for a running PR2

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Mon Nov 2 16:54:34 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3042

The trajectory controller aborts too early since we don't track trajectories too well. One possible fix for this would be to add a little extra time for the trajectory to complete.

trac data:

• Owner: sglaser
• Reporter: sachinc
• Reported at: Tue Dec 15 14:08:14 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3277

_srv packages have gone out of favor

trac data:

• Owner: berger
• Reporter: kwc
• Reported at: Tue Aug 18 01:09:28 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2470

This may mean make a new analyzer that does things as groups. Should expect prosilica, wge100 stereo, HK's, IMU, forearm cams.

trac data:

• Owner: watts
• Reporter: watts
• Reported at: Mon Dec 21 22:00:01 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3344

Tuckarms should:

• not load controllers (the arm controllers should be loaded by default) but check if controllers are loaded
• start the arm controllers if needed
• on exit, it should bring the arm controller back to their original state (started/stopped) --> override shutdown signal

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Wed Dec 16 10:24:11 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3284

Teleop base needs to go in a stack (or app) for M3

trac data:

• Owner: berger
• Reporter: berger
• Reported at: Wed Aug 5 15:36:52 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2210