start-jsk / jsk_apc

jsk_apc

Forum (baxter, apc)

jsk_apc is a stack of ROS packages for Amazon Picking Challenge mainly developed by JSK lab.
The documentation is available at here.

Usage

APC/ARC Competitions

Competition	Documentation
APC2015	See jsk_2015_05_baxter_apc.
APC2016	See jsk_2016_01_baxter_apc.
ARC2017	See jsk_arc2017_baxter.

Research papers

Paper	Documentation	Paper DOI URL
K. Wada et al, ICRA, 2019	See demos/instance_occlsegm.	10.1109/ICRA.2019.8793783
K. Wada et al, IROS, 2018	See demos/instance_occlsegm.	10.1109/IROS.2018.8593690
K. Wada et al, AR, 2017	See jsk_2015_05_baxter_apc.	10.1080/01691864.2016.1269672
S .Hasegawa et al, RA-L, 2020	See demos/baxter_paper_filing.	10.1109/LRA.2020.3010440
S .Hasegawa et al, ICRA, 2019	See demos/grasp_fusion.	10.1109/ICRA.2019.8793710
S. Hasegawa et al, JRM, 2019	See demos/baxtergv6_apc2016.	10.20965/jrm.2019.p0289
S. Hasegawa et al, IROS, 2018	See demos/grasp_prediction_arc2017.	10.1109/IROS.2018.8593398
S. Hasegawa et al, IROS, 2017	See jsk_2016_01_baxter_apc.	10.1109/IROS.2017.8202288
S. Kitagawa et al, AR, 2020	See demos/selective_dualarm_grasping.	10.1080/01691864.2020.1783352
S. Kitagawa et al, IROS, 2018	See demos/selective_dualarm_grasping.	10.1109/IROS.2018.8593752
S. Kitagawa et al, IAS, 2018	See demos/selecive_dualarm_stowing.	10.1007/978-3-030-01370-7_34

Installation

Required

1. Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
2. Setup your ROS environment.
3. Build catkin workspace for jsk_apc:

$ mkdir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall.${ROS_DISTRO}
$ cd ..
$ rosdep install -y -r --from-paths .
$ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools
$ catkin build
$ source devel/setup.bash

Edit /etc/hosts:

133.11.216.224 baxter 011310P0014.local

Add below in your ~/.bashrc:

$ rossetmaster baxter
$ rossetip

$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html)
$ echo """
rossetip
rosdefault
""" >> ~/.bashrc
$ rossetdefault baxter  # set ROS_MASTER_URI as http://baxter:11311

Optional

Setup Arduino and DXHUB

1. To distinguish left DXHUB from right one, follow the instruction here.

2. Create udev rules:

$ rosrun jsk_arc2017_baxter create_udev_rules

so that Arduinos can appear on /dev/arduino* and DXHUBs can appear on /dev/l_dxhub and /dev/r_dxhub

Setup scales

Create udev rules:

$ rosrun jsk_arc2017_common create_udev_rules

so that scales can appear on /dev/scale*

Setup SSH

Write below in ~/.ssh/config:

Host baxter
  HostName baxter.jsk.imi.i.u-tokyo.ac.jp
  User ruser  # password: rethink

Setup UP Board

Inside UP Board...

1. Install ros-kinetic-ros-base and setup environment.
2. Build catkin workspace for jsk_apc:

$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/ros/kinetic/src && cd ~/ros/kinetic/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/upboard.rosinstall
$ wstool merge -t . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/upboard.rosinstall.kinetic
$ wstool update
$ sudo apt install python-pip
$ rosdep install -y -r --from-paths . --ignore-src
$ sudo apt install python-catkin-tools
$ cd .. && catkin build
$ echo 'source $HOME/ros/kinetic/devel/setup.bash' >> ~/.bashrc
$ echo "rossetip" >> ~/.bashrc
$ echo "rossetmaster baxter" >> ~/.bashrc
$ source ~/.bashrc

3. Create udev rules:

# baxter-c2
$ rosrun jsk_arc2017_baxter create_udev_rules
# baxter-c3
$ rosrun jsk_arc2017_common create_udev_rules

4. Create ~/env-loader.sh:

#!/bin/bash

. $HOME/ros/kinetic/devel/setup.bash
export ROSCONSOLE_FORMAT='[${severity}] [${time}]: [${node}] [${function}] ${message}'
rossetip
rossetmaster baxter
exec "$@"

and chmod +x ~/env-loader.sh

5. Setup time synchronization

sudo apt install ntp
# Set the same configuration as other PCs
sudo vi /etc/ntp.conf

From main PC...

1. ssh -oHostKeyAlgorithms='ssh-rsa' baxter@<UP Board Host Name>.jsk.imi.i.u-tokyo.ac.jp
2. Add main PC's ssh public key to ~/.ssh/authorized_keys on UP Board.

Citations

APC2015

@article{wada2017pick,
  title={Pick-and-verify: verification-based highly reliable picking system for various target objects in clutter},
  author={Wada, Kentaro and Sugiura, Makoto and Yanokura, Iori and Inagaki, Yuto and Okada, Kei and Inaba, Masayuki},
  journal={Advanced Robotics},
  volume={31},
  number={6},
  pages={311--321},
  year={2017},
  publisher={Taylor \& Francis}
}

jsk_apc's Issues

one_clickの使い方をゼミ生に周知して一人でも使ってもらって下さい

@aginika

注意:

やって見せて、言って聞かせて、やらせて見て、

ほめてやらねば、人は動かず。

２７個の物品の申し込み

thinkpadのあたらしトラックパッド

synclient RTCornerButton=3
synclient RightButtonAreaTop=0
#synclient RightButtonAreaRight=4858
synclient RightButtonAreaRight=5858
#synclient RightButtonAreaBottom=3665
synclient RightButtonAreaBottom=2500
#synclient RightButtonAreaLeft=3100
synclient RightButtonAreaLeft=3800
synclient AreaTopEdge=2500
synclient CoastingFriction=25
synclient CoastingSpeed=10
#echo 170 | sudo tee /sys/devices/platform/i8042/serio1/serio2/sensitivity 
#echo 100 | sudo tee /sys/devices/platform/i8042/serio1/serio2/speed
echo 180 | sudo tee /sys/devices/platform/i8042/serio1/serio2/sensitivity 
echo 120 | sudo tee /sys/devices/platform/i8042/serio1/serio2/speed

Travis のテストを書く

誰か書いてみたい人いるかな？

棚が新しくなったようです

http://amazonpickingchallenge.org/gazebo_pod.shtml

やっぱ棚は全てではなくなりましたね．A-Lにもなったようです．
eusのモデルはあとで更新しておきます．

Hello All,

The website has been updated with the shelf model we believe will be the final model we'll be using for the contest. Note it is slightly different than the previously posted version.

You will find the new model as part of zip file downloadable here:
http://amazonpickingchallenge.org/gazebo_pod.shtml

Also, on this same page you'll notice that a bin labeling scheme has been defined. This will be the bin labeling scheme used in the contest JSON description file.
The new shelf has a total of 12 pickable bins we'll be using during the contest.

Good luck!

baxter のeusモデルの腕が６自由度だったのを７にする

jsk-ros-pkg/jsk_robot#170
で直しました．また関節の名前が今まで
shoulder-y, shoulde-p, elbow-r, elbow-p, wrist-r, wrist-p だったのを
shoulder-y, shoulder-p , shoulder-r, elbow-p, elbow-r, wrist-p, wrist-r に変更しました．

第３回ゼミ

@ioryz, @wkentaro, @umoji, @Tnoriaki, @jiangjun0105

明日のゼミですが，今度こそ，ソフトウェア第1の担当で午後は駒場に行かなければいけないので，
各自73A2に集合してロボットを使って続きの作業をしてみてください．もし，何をしたらいいかわ
からない，などなどの質問があれば12:00-13:00に73A2にいる予定ですので相談に乗ります．

jsk_robotでgit pull origin masterしてもらうと，eusのロボットがかっこよくなります．
jsk-ros-pkg/jsk_robot#116

publish bin_contents

conect to #92

春季休業中の第一回MTGについて.

2/13(金)にMTGをしようと話をしています。
（パターン情報学のレポート提出日のため、この日にしました。）
@jiangjun0105 もできれば参加してください。

MTGのアジェンダ

• 現状確認(15分程度): 提出した動画等はどうなったか。ゼミでやったことの確認。
• 今後の進め方(1時間程度): スケジュール、集まる頻度、役割など。
• 次回やること(15分程度): 次回集まった時のTodo。
• 次回までにやること(15分程度): 次回やることに向けた準備。

@k-okada できれば研究室で行いたいのですが、可能でしょうか？

@jiangjun0105 @iory @Tnoriaki @umoji 時間はいつ頃にしましょうか？
僕は13:45からでいいかなと考えているのですがどうでしょうか。
（事務室が開くのが13:30なので）

amazon picking challenge の内容を調べる

homepage はこちら　http://amazonpickingchallenge.org/
とりあえず１位だと２００万貰えそう！
http://amazonpickingchallenge.org/details.shtml#prizes

baxter_interface.lのロードが終わらない

下のようなメッセージが出て、一向にbaxter_interface.lのロードが終わりません。
（main.lもおそらく同じ理由で実行できません。）

2.B1-irteusgl$ (load "package://baxtereus/baxter-interface.l")

;; extending gcstack 0x4d47560[32738] --> 0x7949d60[65476] top=7fe1

;; extending gcstack 0x7949d60[65466] --> 0x79c9ba0[130932] top=ffb9

jsonから棚と中身の情報を取得し, publishする。

@iory

発表会について

@k-okada
JSKの人から来週発表会があると言われたのですが、
岡田ゼミの方は発表会はいつやるんでしょうか？

字を読んでBinのラベルを調べるプログラム

アマゾンにBaxterを動作させている動画を送る

• シミュレーション環境でBaxterに棚からものを取り出させる。
• 実環境でBaxterに棚からものを取り出させる。

http://amazonpickingchallenge.org/register.shtml

baxterのシミュレータを準備する

吉澤くんのアカウント待ち

self_filter did not found

baxter.launch could not find self_filter, maybe they're forget to install binary, did you send PR to upstream? > @aginika

process[openni_base_link3-24]: started with pid [29286]
ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]

baxter_simulatorがインストールできない。(hydro)

$ wstool merge baxter_simulator/baxter_simulator.rosinstall
$ wstool update
$ cd ~/catkin_ws/semi
$ catkin_make
Base path: /home/wken/catkin_ws/semi
Source space: /home/wken/catkin_ws/semi/src
Build space: /home/wken/catkin_ws/semi/build
Devel space: /home/wken/catkin_ws/semi/devel
Install space: /home/wken/catkin_ws/semi/install
WARNING: Package name "2014_picking_challenge" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
####
#### Running command: "make cmake_check_build_system" in "/home/wken/catkin_ws/semi/build"
####
####
#### Running command: "make -j8 -l8" in "/home/wken/catkin_ws/semi/build"
####
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/usr/bin/ld: CMakeFiles/kinematics.dir/src/position_kinematics.cpp.o: undefined reference to symbol 'KDL::Chain::~Chain()'
/usr/bin/ld: note: 'KDL::Chain::~Chain()' is defined in DSO /opt/ros/hydro/lib/liborocos-kdl.so.1.2 so try adding it to the linker command line
/opt/ros/hydro/lib/liborocos-kdl.so.1.2: could not read symbols: Invalid operation
collect2: ld はステータス 1 で終了しました
make[2]: *** [/home/wken/catkin_ws/semi/devel/lib/baxter_sim_kinematics/kinematics] エラー 1
make[1]: *** [baxter_simulator/baxter_sim_kinematics/CMakeFiles/kinematics.dir/all] エラー 2
make[1]: *** 未完了のジョブを待っています....
/usr/bin/ld: CMakeFiles/baxter_emulator.dir/src/baxter_emulator.cpp.o: undefined reference to symbol 'KDL::Chain::~Chain()'
/usr/bin/ld: note: 'KDL::Chain::~Chain()' is defined in DSO /opt/ros/hydro/lib/liborocos-kdl.so.1.2 so try adding it to the linker command line
/opt/ros/hydro/lib/liborocos-kdl.so.1.2: could not read symbols: Invalid operation
collect2: ld はステータス 1 で終了しました
make[2]: *** [/home/wken/catkin_ws/semi/devel/lib/baxter_sim_hardware/baxter_emulator] エラー 1
make[1]: *** [baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/all] エラー 2
make: *** [all] エラー 2
Invoking "make" failed

持っているものを指定された位置に戻すプログラム

12月3日のゼミ

今日は駒場でした．ということで各自頑張ってください．
本日中の目標は

• Amazonに送るビデオを取る

にしましょう．必要なのは以下で，コレを読んで
まずは相手の希望にそうように，さらに工夫して
相手が関心してくれるようなものを目指してください．
ビデオはiphoneでとって編集でよいとおもいます．新しいiphoneを
持っていなければ，誰かに借りるか，@mmurookaさんが良いandroid
携帯を持っているのでそれで取るので良いと思います．

わからないことがあれば @aginika さんが助けてくれると思います．

A simulation using the posted contest 3D shelf model and a simulated robot picking an item (it does not have to be a contest item) out of the shelf.
A real robot picking an item off of a shelf (it does not have to be the contest shelf) where the item resembles at least one of the items from the posted list of contest items.

pkgとしてzbar_rosを追加できない

add_custom_target cannot create target "localizer_generate_messages_lisp" because another target with the same name already exists.
といったエラーが出ます。応急処置として、zbar_ros/facedetectorを削除してcatkin_makeして使っています。

$ catkin_make
...

[roseus.camke] Loading... PROJECT_NAME=facedetector USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- facedetector: 1 messages, 0 services
-- +++ processing catkin package: 'localizer'
-- ==> add_subdirectory(zbar_ros/localizer)
[roseus.camke] Loading... PROJECT_NAME=localizer USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- localizer: 0 messages, 1 services
CMake Error at /home/wken/catkin_ws/semi/build/zbar_ros/localizer/cmake/localizer-genmsg.cmake:36 (add_custom_target):
  add_custom_target cannot create target "localizer_generate_messages_cpp"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/wken/catkin_ws/semi/src/zbar_ros/facedetector".  See documentation
  for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  zbar_ros/localizer/CMakeLists.txt:14 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/zbar_ros/localizer/cmake/localizer-genmsg.cmake:65 (add_custom_target):
  add_custom_target cannot create target "localizer_generate_messages_eus"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/wken/catkin_ws/semi/src/zbar_ros/facedetector".  See documentation
  for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  zbar_ros/localizer/CMakeLists.txt:14 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/zbar_ros/localizer/cmake/localizer-genmsg.cmake:94 (add_custom_target):
  add_custom_target cannot create target "localizer_generate_messages_lisp"
  because another target with the same name already exists.
file here  The existing
  target is a custom target created in source directory
  "/home/wken/catkin_ws/semi/src/zbar_ros/facedetector".  See documentation
  for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  zbar_ros/localizer/CMakeLists.txt:14 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/zbar_ros/localizer/cmake/localizer-genmsg.cmake:123 (add_custom_target):
  add_custom_target cannot create target "localizer_generate_messages_py"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/wken/catkin_ws/semi/src/zbar_ros/facedetector".  See documentation
  for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  zbar_ros/localizer/CMakeLists.txt:14 (generate_messages)


-- +++ processing catkin package: 'mini_maxwell'
-- ==> add_subdirectory(jsk_common/3rdparty/mini_maxwell)
-- +++ processing catkin package: 'jsk_robot_startup'
-- ==> add_subdirectory(jsk_robot/jsk_robot_common/jsk_robot_startup)
[roseus.camke] Loading... PROJECT_NAME=jsk_robot_startup USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'control_toolbox'
-- ==> add_subdirectory(control_toolbox)
[roseus.camke] Loading... PROJECT_NAME=control_toolbox USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- control_toolbox: 0 messages, 1 services
-- +++ processing catkin package: 'controller_manager_tests'
-- ==> add_subdirectory(ros_control/controller_manager_tests)
[roseus.camke] Loading... PROJECT_NAME=controller_manager_tests USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'dynamic_tf_publisher'
-- ==> add_subdirectory(jsk_common/jsk_coordination_system/dynamic_tf_publisher)
[roseus.camke] Loading... PROJECT_NAME=dynamic_tf_publisher USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- dynamic_tf_publisher: 0 messages, 4 services
-- +++ processing catkin package: 'jsk_topic_tools'
-- ==> add_subdirectory(jsk_common/jsk_topic_tools)
[roseus.camke] Loading... PROJECT_NAME=jsk_topic_tools USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- jsk_topic_tools: 1 messages, 2 services
-- +++ processing catkin package: 'laser_filters_jsk_patch'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/laser_filters_jsk_patch)
[roseus.camke] Loading... PROJECT_NAME=laser_filters_jsk_patch USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'multi_map_server'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/multi_map_server)
[roseus.camke] Loading... PROJECT_NAME=multi_map_server USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- checking for module 'yaml-cpp>=0.5'
--   package 'yaml-cpp>=0.5' not found
-- +++ processing catkin package: 'openni_tracker_jsk_patch'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/openni_tracker_jsk_patch)
-- +++ processing catkin package: 'opt_camera'
-- ==> add_subdirectory(jsk_common/opt_camera)
[roseus.camke] Loading... PROJECT_NAME=opt_camera USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'depth_image_proc_jsk_patch'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/depth_image_proc_jsk_patch)
-- +++ processing catkin package: 'image_view2'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/image_view2)
[roseus.camke] Loading... PROJECT_NAME=image_view2 USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Found PCL: /usr/lib/libboost_signals-mt.so;/usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;optimized;/usr/lib/libpcl_common.so;debug;/usr/lib/libpcl_common.so;optimized;/usr/lib/libflann_cpp_s.a;debug;/usr/lib/libflann_cpp_s.a;optimized;/usr/lib/libpcl_kdtree.so;debug;/usr/lib/libpcl_kdtree.so;optimized;/usr/lib/libpcl_octree.so;debug;/usr/lib/libpcl_octree.so;optimized;/usr/lib/libpcl_search.so;debug;/usr/lib/libpcl_search.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;vtkCharts;optimized;/usr/lib/libpcl_io.so;debug;/usr/lib/libpcl_io.so;optimized;/usr/lib/libpcl_sample_consensus.so;debug;/usr/lib/libpcl_sample_consensus.so;optimized;/usr/lib/libpcl_filters.so;debug;/usr/lib/libpcl_filters.so;optimized;/usr/lib/libpcl_visualization.so;debug;/usr/lib/libpcl_visualization.so;optimized;/usr/lib/libpcl_outofcore.so;debug;/usr/lib/libpcl_outofcore.so;optimized;/usr/lib/libpcl_features.so;debug;/usr/lib/libpcl_features.so;optimized;/usr/lib/libpcl_segmentation.so;debug;/usr/lib/libpcl_segmentation.so;optimized;/usr/lib/libpcl_people.so;debug;/usr/lib/libpcl_people.so;optimized;/usr/lib/libpcl_registration.so;debug;/usr/lib/libpcl_registration.so;optimized;/usr/lib/libpcl_recognition.so;debug;/usr/lib/libpcl_recognition.so;optimized;/usr/lib/libpcl_keypoints.so;debug;/usr/lib/libpcl_keypoints.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;optimized;/usr/lib/libpcl_surface.so;debug;/usr/lib/libpcl_surface.so;optimized;/usr/lib/libpcl_tracking.so;debug;/usr/lib/libpcl_tracking.so;optimized;/usr/lib/libpcl_apps.so;debug;/usr/lib/libpcl_apps.so;/usr/lib/libboost_signals-mt.so;/usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;/usr/lib/libOpenNI.so;optimized;/usr/lib/libflann_cpp_s.a;debug;/usr/lib/libflann_cpp_s.a;vtkCommon;vtkRendering;vtkHybrid;vtkCharts 
-- image_view2: 2 messages, 0 services
-- +++ processing catkin package: 'resized_image_transport'
-- ==> add_subdirectory(jsk_recognition/resized_image_transport)
[roseus.camke] Loading... PROJECT_NAME=resized_image_transport USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_tilt_laser'
-- ==> add_subdirectory(jsk_common/jsk_tilt_laser)
[roseus.camke] Loading... PROJECT_NAME=jsk_tilt_laser USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'baxter_interface'
-- ==> add_subdirectory(baxter_interface)
[roseus.camke] Loading... PROJECT_NAME=baxter_interface USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_examples'
-- ==> add_subdirectory(baxter_examples)
[roseus.camke] Loading... PROJECT_NAME=baxter_examples USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_tools'
-- ==> add_subdirectory(baxter_tools)
[roseus.camke] Loading... PROJECT_NAME=baxter_tools USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_msgs'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_msgs)
[roseus.camke] Loading... PROJECT_NAME=gazebo_msgs USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- gazebo_msgs: 9 messages, 20 services
-- +++ processing catkin package: 'transmission_interface'
-- ==> add_subdirectory(ros_control/transmission_interface)
-- +++ processing catkin package: 'turtlebot_vicos'
-- ==> add_subdirectory(zbar_ros/turtlebot_vicos)
-- +++ processing catkin package: 'joint_limits_interface'
-- ==> add_subdirectory(ros_control/joint_limits_interface)
-- +++ processing catkin package: 'effort_controllers'
-- ==> add_subdirectory(ros_controllers/effort_controllers)
[roseus.camke] Loading... PROJECT_NAME=effort_controllers USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_sim_controllers'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_controllers)
[roseus.camke] Loading... PROJECT_NAME=baxter_sim_controllers USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_plugins'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_plugins)
[roseus.camke] Loading... PROJECT_NAME=gazebo_plugins USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Found PCL: /usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;optimized;/usr/lib/libpcl_common.so;debug;/usr/lib/libpcl_common.so;optimized;/usr/lib/libflann_cpp_s.a;debug;/usr/lib/libflann_cpp_s.a;optimized;/usr/lib/libpcl_kdtree.so;debug;/usr/lib/libpcl_kdtree.so;optimized;/usr/lib/libpcl_octree.so;debug;/usr/lib/libpcl_octree.so;optimized;/usr/lib/libpcl_search.so;debug;/usr/lib/libpcl_search.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;vtkCharts;optimized;/usr/lib/libpcl_io.so;debug;/usr/lib/libpcl_io.so;optimized;/usr/lib/libpcl_sample_consensus.so;debug;/usr/lib/libpcl_sample_consensus.so;optimized;/usr/lib/libpcl_filters.so;debug;/usr/lib/libpcl_filters.so;optimized;/usr/lib/libpcl_visualization.so;debug;/usr/lib/libpcl_visualization.so;optimized;/usr/lib/libpcl_outofcore.so;debug;/usr/lib/libpcl_outofcore.so;optimized;/usr/lib/libpcl_features.so;debug;/usr/lib/libpcl_features.so;optimized;/usr/lib/libpcl_segmentation.so;debug;/usr/lib/libpcl_segmentation.so;optimized;/usr/lib/libpcl_people.so;debug;/usr/lib/libpcl_people.so;optimized;/usr/lib/libpcl_registration.so;debug;/usr/lib/libpcl_registration.so;optimized;/usr/lib/libpcl_recognition.so;debug;/usr/lib/libpcl_recognition.so;optimized;/usr/lib/libpcl_keypoints.so;debug;/usr/lib/libpcl_keypoints.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;optimized;/usr/lib/libpcl_surface.so;debug;/usr/lib/libpcl_surface.so;optimized;/usr/lib/libpcl_tracking.so;debug;/usr/lib/libpcl_tracking.so;optimized;/usr/lib/libpcl_apps.so;debug;/usr/lib/libpcl_apps.so;/usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;/usr/lib/libOpenNI.so;optimized;/usr/lib/libflann_cpp_s.a;debug;/usr/lib/libflann_cpp_s.a;vtkCommon;vtkRendering;vtkHybrid;vtkCharts 
-- +++ processing catkin package: 'gazebo_ros'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_ros)
[roseus.camke] Loading... PROJECT_NAME=gazebo_ros USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_ros_control'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_ros_control)
[roseus.camke] Loading... PROJECT_NAME=gazebo_ros_control USE_ROSBILD=
[rospack] Error: package/stack 'gazebo_ros_control' depends on non-existent package 'ros_controllers' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for gazebo_ros_control
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_sim_kinematics'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_kinematics)
[roseus.camke] Loading... PROJECT_NAME=baxter_sim_kinematics USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'pr2_base_trajectory_action'
-- ==> add_subdirectory(jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action)
[roseus.camke] Loading... PROJECT_NAME=pr2_base_trajectory_action USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'velocity_controllers'
-- ==> add_subdirectory(ros_controllers/velocity_controllers)
-- +++ processing catkin package: 'baxter_gazebo'
-- ==> add_subdirectory(baxter_simulator/baxter_gazebo)
[roseus.camke] Loading... PROJECT_NAME=baxter_gazebo USE_ROSBILD=
[rospack] Error: package/stack 'gazebo_ros_control' depends on non-existent package 'ros_controllers' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for baxter_gazebo
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'virtual_force_publisher'
-- ==> add_subdirectory(jsk_common/virtual_force_publisher)
[roseus.camke] Loading... PROJECT_NAME=virtual_force_publisher USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin metapackage: 'vision_visp'
-- ==> add_subdirectory(vision_visp/vision_visp)
-- +++ processing catkin package: 'visp_bridge'
-- ==> add_subdirectory(vision_visp/visp_bridge)
-- +++ processing catkin package: 'visp_camera_calibration'
-- ==> add_subdirectory(vision_visp/visp_camera_calibration)
[roseus.camke] Loading... PROJECT_NAME=visp_camera_calibration USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_camera_calibration: 4 messages, 1 services
-- +++ processing catkin package: 'visp_hand2eye_calibration'
-- ==> add_subdirectory(vision_visp/visp_hand2eye_calibration)
[roseus.camke] Loading... PROJECT_NAME=visp_hand2eye_calibration USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_hand2eye_calibration: 1 messages, 3 services
-- +++ processing catkin package: 'visp_tracker'
-- ==> add_subdirectory(vision_visp/visp_tracker)
[roseus.camke] Loading... PROJECT_NAME=visp_tracker USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_tracker: 6 messages, 1 services
-- +++ processing catkin package: 'visp_auto_tracker'
-- ==> add_subdirectory(vision_visp/visp_auto_tracker)
-- +++ processing catkin package: 'jsk_baxter_web'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_web)
[roseus.camke] Loading... PROJECT_NAME=jsk_baxter_web USE_ROSBILD=
[rospack] Error: package/stack 'jsk_baxter_web' depends on non-existent package 'rwt_ros' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for jsk_baxter_web
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_nao_startup'
-- ==> add_subdirectory(jsk_robot/jsk_nao_robot/jsk_nao_startup)
[roseus.camke] Loading... PROJECT_NAME=jsk_nao_startup USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_pepper_startup'
-- ==> add_subdirectory(jsk_robot/jsk_pepper_robot/jsk_pepper_startup)
[roseus.camke] Loading... PROJECT_NAME=jsk_pepper_startup USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'collada_urdf_jsk_patch'
-- ==> add_subdirectory(jsk_common/jsk_ros_patch/collada_urdf_jsk_patch)
[roseus.camke] Loading... PROJECT_NAME=collada_urdf_jsk_patch USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxtereus'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/baxtereus)
[roseus.camke] Loading... PROJECT_NAME=baxtereus USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
baxter_urdf: /home/wken/catkin_ws/semi/src/baxter_common/baxter_description/urdf
urdf_to_collada: /opt/ros/hydro/lib/collada_urdf/urdf_to_collada
collada2eus: /opt/ros/hydro/lib/euscollada/collada2eus
-- +++ processing catkin package: 'jsk_pcl_ros'
-- ==> add_subdirectory(jsk_recognition/jsk_pcl_ros)
[roseus.camke] Loading... PROJECT_NAME=jsk_pcl_ros USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- jsk_pcl_ros: 22 messages, 14 services
-- +++ processing catkin package: 'checkerboard_detector'
-- ==> add_subdirectory(jsk_recognition/checkerboard_detector)
[roseus.camke] Loading... PROJECT_NAME=checkerboard_detector USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_baxter_startup'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_startup)
-- +++ processing catkin package: 'jsk_baxter_desktop'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_desktop)
[roseus.camke] Loading... PROJECT_NAME=jsk_baxter_desktop USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_perception'
-- ==> add_subdirectory(jsk_recognition/jsk_perception)
[roseus.camke] Loading... PROJECT_NAME=jsk_perception USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
OPENMP FOUND
-- jsk_perception: 9 messages, 4 services
git config --global http.sslVerify false
touch installed
-- +++ processing catkin package: 'voice_text'
-- ==> add_subdirectory(jsk_common/3rdparty/voice_text)
-- +++ processing catkin package: 'jsk_pr2_startup'
-- ==> add_subdirectory(jsk_robot/jsk_pr2_robot/jsk_pr2_startup)
-- +++ processing catkin package: 'baxter_sim_hardware'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_hardware)
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'xacro'
-- ==> add_subdirectory(xacro)
-- +++ processing catkin package: 'joint_trajectory_controller'
-- ==> add_subdirectory(ros_controllers/joint_trajectory_controller)
[roseus.camke] Loading... PROJECT_NAME=joint_trajectory_controller USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_2014_picking_challenge'
-- ==> add_subdirectory(2014-semi/jsk_2014_picking_challenge)
[roseus.camke] Loading... PROJECT_NAME=jsk_2014_picking_challenge USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- jsk_2014_picking_challenge: 2 messages, 1 services
-- +++ processing catkin package: 'zbar_ros'
-- ==> add_subdirectory(zbar_ros/zbar_ros)
[roseus.camke] Loading... PROJECT_NAME=zbar_ros USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- zbar_ros: 1 messages, 0 services
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

Mailing Listに登録する

Amazon, Baxterのメーリングリストに登録する。
Wikiにリンクが貼ってあります。↓
https://github.com/start-jsk/2014-semi/wiki/Links#%E3%83%A1%E3%83%BC%E3%83%AA%E3%82%B9

物体をもった状態で判別する

• weight -> https://github.com/jsk-ros-pkg/jsk_common/tree/master/virtual_force_publisher
• color
• texture

Can't execute `rosdep install -y -r --from-paths .` in README.md.

講習会資料のインストール手順後。

$ rosdep install -y -r --from-paths .
WARNING: Package name "2014_picking_challenge" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

ERROR: Rosdep experienced an error: Multiple packages found with the same name "baxter_common":
- install/share/baxter_common
- src/baxter_common/baxter_common
Multiple packages found with the same name "baxter_core_msgs":
- install/share/baxter_core_msgs
- src/baxter_common/baxter_core_msgs
Multiple packages found with the same name "baxter_description":
- install/share/baxter_description
- src/baxter_common/baxter_description
Multiple packages found with the same name "baxter_examples":
- install/share/baxter_examples
- src/baxter_examples
Multiple packages found with the same name "baxter_gazebo":
- install/share/baxter_gazebo
- src/baxter_simulator/baxter_gazebo
Multiple packages found with the same name "baxter_interface":
- install/share/baxter_interface
- src/baxter_interface
Multiple packages found with the same name "baxter_maintenance_msgs":
- install/share/baxter_maintenance_msgs
- src/baxter_common/baxter_maintenance_msgs
Multiple packages found with the same name "baxter_sdk":
- install/share/baxter_sdk
- src/baxter/baxter_sdk
Multiple packages found with the same name "baxter_sim_controllers":
- install/share/baxter_sim_controllers
- src/baxter_simulator/baxter_sim_controllers
Multiple packages found with the same name "baxter_sim_hardware":
- install/share/baxter_sim_hardware
- src/baxter_simulator/baxter_sim_hardware
Multiple packages found with the same name "baxter_sim_io":
- install/share/baxter_sim_io
- src/baxter_simulator/baxter_sim_io
Multiple packages found with the same name "baxter_sim_kinematics":
- install/share/baxter_sim_kinematics
- src/baxter_simulator/baxter_sim_kinematics
Multiple packages found with the same name "baxter_simulator":
- install/share/baxter_simulator
- src/baxter_simulator/baxter_simulator
Multiple packages found with the same name "baxter_tools":
- install/share/baxter_tools
- src/baxter_tools
Multiple packages found with the same name "control_toolbox":
- install/share/control_toolbox
- src/control_toolbox
Multiple packages found with the same name "controller_interface":
- install/share/controller_interface
- src/ros_control/controller_interface
Multiple packages found with the same name "controller_manager":
- install/share/controller_manager
- src/ros_control/controller_manager
Multiple packages found with the same name "controller_manager_msgs":
- install/share/controller_manager_msgs
- src/ros_control/controller_manager_msgs
Multiple packages found with the same name "controller_manager_tests":
- install/share/controller_manager_tests
- src/ros_control/controller_manager_tests
Multiple packages found with the same name "effort_controllers":
- install/share/effort_controllers
- src/ros_controllers/effort_controllers
Multiple packages found with the same name "force_torque_sensor_controller":
- install/share/force_torque_sensor_controller
- src/ros_controllers/force_torque_sensor_controller
Multiple packages found with the same name "forward_command_controller":
- install/share/forward_command_controller
- src/ros_controllers/forward_command_controller
Multiple packages found with the same name "gazebo_msgs":
- install/share/gazebo_msgs
- src/gazebo_ros_pkgs/gazebo_msgs
Multiple packages found with the same name "gazebo_plugins":
- install/share/gazebo_plugins
- src/gazebo_ros_pkgs/gazebo_plugins
Multiple packages found with the same name "gazebo_ros":
- install/share/gazebo_ros
- src/gazebo_ros_pkgs/gazebo_ros
Multiple packages found with the same name "gazebo_ros_control":
- install/share/gazebo_ros_control
- src/gazebo_ros_pkgs/gazebo_ros_control
Multiple packages found with the same name "gazebo_ros_pkgs":
- install/share/gazebo_ros_pkgs
- src/gazebo_ros_pkgs/gazebo_ros_pkgs
Multiple packages found with the same name "hardware_interface":
- install/share/hardware_interface
- src/ros_control/hardware_interface
Multiple packages found with the same name "imu_sensor_controller":
- install/share/imu_sensor_controller
- src/ros_controllers/imu_sensor_controller
Multiple packages found with the same name "joint_limits_interface":
- install/share/joint_limits_interface
- src/ros_control/joint_limits_interface
Multiple packages found with the same name "joint_state_controller":
- install/share/joint_state_controller
- src/ros_controllers/joint_state_controller
Multiple packages found with the same name "joint_trajectory_controller":
- install/share/joint_trajectory_controller
- src/ros_controllers/joint_trajectory_controller
Multiple packages found with the same name "position_controllers":
- install/share/position_controllers
- src/ros_controllers/position_controllers
Multiple packages found with the same name "realtime_tools":
- install/share/realtime_tools
- src/realtime_tools
Multiple packages found with the same name "ros_control":
- install/share/ros_control
- src/ros_control/ros_control
Multiple packages found with the same name "ros_controllers":
- install/share/ros_controllers
- src/ros_controllers/ros_controllers
Multiple packages found with the same name "transmission_interface":
- install/share/transmission_interface
- src/ros_control/transmission_interface
Multiple packages found with the same name "velocity_controllers":
- install/share/velocity_controllers
- src/ros_controllers/velocity_controllers
Multiple packages found with the same name "xacro":
- install/share/xacro
- src/xacro
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.10.32

Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 136, in rosdep_main
    exit_code = _rosdep_main(args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 345, in _rosdep_main
    return _package_args_handler(command, parser, options, args)
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 394, in _package_args_handler
    pkgs = find_catkin_packages_in(path, options.verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/catkin_packages.py", line 33, in find_catkin_packages_in
    packages = find_packages(path)
  File "/usr/lib/python2.7/dist-packages/catkin_pkg/packages.py", line 92, in find_packages
    raise RuntimeError('\n'.join(duplicates))
RuntimeError: Multiple packages found with the same name "baxter_common":
- install/share/baxter_common
- src/baxter_common/baxter_common
Multiple packages found with the same name "baxter_core_msgs":
- install/share/baxter_core_msgs
- src/baxter_common/baxter_core_msgs
Multiple packages found with the same name "baxter_description":
- install/share/baxter_description
- src/baxter_common/baxter_description
Multiple packages found with the same name "baxter_examples":
- install/share/baxter_examples
- src/baxter_examples
Multiple packages found with the same name "baxter_gazebo":
- install/share/baxter_gazebo
- src/baxter_simulator/baxter_gazebo
Multiple packages found with the same name "baxter_interface":
- install/share/baxter_interface
- src/baxter_interface
Multiple packages found with the same name "baxter_maintenance_msgs":
- install/share/baxter_maintenance_msgs
- src/baxter_common/baxter_maintenance_msgs
Multiple packages found with the same name "baxter_sdk":
- install/share/baxter_sdk
- src/baxter/baxter_sdk
Multiple packages found with the same name "baxter_sim_controllers":
- install/share/baxter_sim_controllers
- src/baxter_simulator/baxter_sim_controllers
Multiple packages found with the same name "baxter_sim_hardware":
- install/share/baxter_sim_hardware
- src/baxter_simulator/baxter_sim_hardware
Multiple packages found with the same name "baxter_sim_io":
- install/share/baxter_sim_io
- src/baxter_simulator/baxter_sim_io
Multiple packages found with the same name "baxter_sim_kinematics":
- install/share/baxter_sim_kinematics
- src/baxter_simulator/baxter_sim_kinematics
Multiple packages found with the same name "baxter_simulator":
- install/share/baxter_simulator
- src/baxter_simulator/baxter_simulator
Multiple packages found with the same name "baxter_tools":
- install/share/baxter_tools
- src/baxter_tools
Multiple packages found with the same name "control_toolbox":
- install/share/control_toolbox
- src/control_toolbox
Multiple packages found with the same name "controller_interface":
- install/share/controller_interface
- src/ros_control/controller_interface
Multiple packages found with the same name "controller_manager":
- install/share/controller_manager
- src/ros_control/controller_manager
Multiple packages found with the same name "controller_manager_msgs":
- install/share/controller_manager_msgs
- src/ros_control/controller_manager_msgs
Multiple packages found with the same name "controller_manager_tests":
- install/share/controller_manager_tests
- src/ros_control/controller_manager_tests
Multiple packages found with the same name "effort_controllers":
- install/share/effort_controllers
- src/ros_controllers/effort_controllers
Multiple packages found with the same name "force_torque_sensor_controller":
- install/share/force_torque_sensor_controller
- src/ros_controllers/force_torque_sensor_controller
Multiple packages found with the same name "forward_command_controller":
- install/share/forward_command_controller
- src/ros_controllers/forward_command_controller
Multiple packages found with the same name "gazebo_msgs":
- install/share/gazebo_msgs
- src/gazebo_ros_pkgs/gazebo_msgs
Multiple packages found with the same name "gazebo_plugins":
- install/share/gazebo_plugins
- src/gazebo_ros_pkgs/gazebo_plugins
Multiple packages found with the same name "gazebo_ros":
- install/share/gazebo_ros
- src/gazebo_ros_pkgs/gazebo_ros
Multiple packages found with the same name "gazebo_ros_control":
- install/share/gazebo_ros_control
- src/gazebo_ros_pkgs/gazebo_ros_control
Multiple packages found with the same name "gazebo_ros_pkgs":
- install/share/gazebo_ros_pkgs
- src/gazebo_ros_pkgs/gazebo_ros_pkgs
Multiple packages found with the same name "hardware_interface":
- install/share/hardware_interface
- src/ros_control/hardware_interface
Multiple packages found with the same name "imu_sensor_controller":
- install/share/imu_sensor_controller
- src/ros_controllers/imu_sensor_controller
Multiple packages found with the same name "joint_limits_interface":
- install/share/joint_limits_interface
- src/ros_control/joint_limits_interface
Multiple packages found with the same name "joint_state_controller":
- install/share/joint_state_controller
- src/ros_controllers/joint_state_controller
Multiple packages found with the same name "joint_trajectory_controller":
- install/share/joint_trajectory_controller
- src/ros_controllers/joint_trajectory_controller
Multiple packages found with the same name "position_controllers":
- install/share/position_controllers
- src/ros_controllers/position_controllers
Multiple packages found with the same name "realtime_tools":
- install/share/realtime_tools
- src/realtime_tools
Multiple packages found with the same name "ros_control":
- install/share/ros_control
- src/ros_control/ros_control
Multiple packages found with the same name "ros_controllers":
- install/share/ros_controllers
- src/ros_controllers/ros_controllers
Multiple packages found with the same name "transmission_interface":
- install/share/transmission_interface
- src/ros_control/transmission_interface
Multiple packages found with the same name "velocity_controllers":
- install/share/velocity_controllers
- src/ros_controllers/velocity_controllers
Multiple packages found with the same name "xacro":
- install/share/xacro
- src/xacro

12月10日の目標

• シミュレータのビデオを作る
• 実機で物体を where the item resembles at least one of the items from the posted list of contest items. (http://amazonpickingchallenge.org/register.shtml) に変更
• 白い棚を使って，なかにダンボールの区切り箱をいれる（icking an item off of a shelf (it does not have to be the contest shelf)
• ロボットはロボット，画面は画面で別々に取る
• 画面は左上にimage_view, 左下にterminal or eus, 右にrvizか，全画面rvizにする．record desktop みたいなのを使えばいいのかな
• 画面をみていて今何が起こっているかわかるようにする
  • JSONが来た（JSONの指令を表示）
  • 手を伸ばしている（目標位置を表示）
  • QRコードを確認，認識結果を表示
  • グラスプする，Grasp舌と認識したことを表示
  • 手を後ろに持っていくときに目標位置を表示
  • リリースする（リリースしたことを表示）
  • 動くときは顔をそちらに向ける(https://github.com/jsk-ros-pkg/jsk_robot/pull/193/files　できましたか？ @aginika)

twitter はじめました

baxterのtwitterをはじめました．

https://twitter.com/baxter_jsk

です．％　PR2のものは(https://twitter.com/pr2jsk にあります）

rostopic pub -1 /tweet std_msgs/String "Hello World"

で話します．

画像をポストするには，
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_startup/jsk_pr2_lifelog/tweet_client.l
みたいに画像へのファイルパスをメッセージに含めればよいです．

ぜひ，遊んでください．

@aginika baxterのlaunchにrostwitterを含めてください．

baxter_toolsのcamera_control.pyが実行できない。

$ rosrun baxter_tools camera_control.py -l
Traceback (most recent call last):
  File "/opt/ros/hydro/lib/baxter_tools/camera_control.py", line 160, in <module>
    sys.exit(main())
  File "/opt/ros/hydro/lib/baxter_tools/camera_control.py", line 156, in main
    action(camera, res)
  File "/opt/ros/hydro/lib/baxter_tools/camera_control.py", line 47, in list_cameras
    rospy.wait_for_service('cameras/list', timeout=10)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 143, in wait_for_service
    raise ROSException("timeout exceeded while waiting for service %s"%resolved_name)
rospy.exceptions.ROSException: timeout exceeded while waiting for service /cameras/list

Pkg内ファイルの使い方の共有について．

launch, scripts, euslispなどの実行ファイルの使い方を共有する方がいいと思うのですが，どういった方法がいいでしょうか．
以下がとりあえずwikiに作成したものです．
https://github.com/start-jsk/2014-semi/wiki/Pkg_Documentation

how to see roobt's view?

ServiceファイルのImport時、パッケージ名でのSyntaxError

腕の移動の処理でServiceを使おうと思ったのですが、packageの名前でSyntaxErrorになります。
使い方は合っているでしょうか。合っている場合は、package名を変えるということになりますか。

 $ rosrun 2014_picking_challenge move_arm_server.py 
  File "move_arm_server.py", line 15
    from 2014_picking_challenge.srv import MoveArm
            ^
SyntaxError: invalid syntax

全部のbinの枠に手が届くようなプログラムを作る

https://github.com/start-jsk/2014-semi/blob/master/jsk_2014_picking_challenge/scripts/main.l

掴んだものをみて画像をとるプログラム

物体モデル

バークレーがいいものを作ってくれています．
http://rll.berkeley.edu/amazon_picking_challenge/

CMakeError: another target with the same name already exists.

srvファイルを追加し、package.xmlとCMakeLists.txtを変更したところ、ビルド中に下のようなanother target with the same name already exists. というエラーが出ました。
エラーが出る前後の変更を調べると、CMakeLists.txtの find_packages() に message_generation を追加すると起こります。(しかしこれがないと追加したsrvファイルからmsgなどが生成されません)

エラーの出るCMakeLists.txt:
https://github.com/wkentaro/2014-semi/blob/wkentaro/jsk_2014_picking_challenge/CMakeLists.txt

$ catkin_make
Base path: /home/wken/catkin_ws/semi
Source space: /home/wken/catkin_ws/semi/src
Build space: /home/wken/catkin_ws/semi/build
Devel space: /home/wken/catkin_ws/semi/devel
Install space: /home/wken/catkin_ws/semi/install
####
#### Running command: "make cmake_check_build_system" in "/home/wken/catkin_ws/semi/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/wken/catkin_ws/semi/devel
-- Using CMAKE_PREFIX_PATH: /home/wken/catkin_ws/semi/devel;/opt/ros/hydro
-- This workspace overlays: /home/wken/catkin_ws/semi/devel;/opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/wken/catkin_ws/semi/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.89
-- BUILD_SHARED_LIBS is on
WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
WARNING: package "hrpsys_ros_bridge" should not depend on metapackage "pr2_controllers" but on its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 53 packages in topological order:
-- ~~  - baxter_common (metapackage)
-- ~~  - baxter_description
-- ~~  - baxter_maintenance_msgs
-- ~~  - baxter_sdk (metapackage)
-- ~~  - baxter_simulator (metapackage)
-- ~~  - controller_manager_msgs
-- ~~  - gazebo_ros_pkgs (metapackage)
-- ~~  - hardware_interface
-- ~~  - jsk_2014_picking_challenge
-- ~~  - controller_interface
-- ~~  - forward_command_controller
-- ~~  - position_controllers
-- ~~  - realtime_tools
-- ~~  - controller_manager
-- ~~  - force_torque_sensor_controller
-- ~~  - ros_control (metapackage)
-- ~~  - ros_controllers (metapackage)
-- ~~  - baxter_core_msgs
-- ~~  - baxter_sim_io
-- ~~  - imu_sensor_controller
-- ~~  - joint_state_controller
-- ~~  - control_toolbox
-- ~~  - controller_manager_tests
-- ~~  - baxter_interface
-- ~~  - baxter_examples
-- ~~  - baxter_tools
-- ~~  - gazebo_msgs
-- ~~  - jsk_baxter_startup
-- ~~  - transmission_interface
-- ~~  - joint_limits_interface
-- ~~  - effort_controllers
-- ~~  - baxter_sim_controllers
-- ~~  - gazebo_plugins
-- ~~  - gazebo_ros
-- ~~  - gazebo_ros_control
-- ~~  - baxter_sim_kinematics
-- ~~  - pr2_base_trajectory_action
-- ~~  - velocity_controllers
-- ~~  - baxter_gazebo
-- ~~  - vision_visp (metapackage)
-- ~~  - visp_bridge
-- ~~  - visp_camera_calibration
-- ~~  - visp_hand2eye_calibration
-- ~~  - visp_tracker
-- ~~  - visp_auto_tracker
-- ~~  - jsk_baxter_web
-- ~~  - jsk_pepper_startup
-- ~~  - jsk_baxter_desktop
-- ~~  - baxtereus
-- ~~  - jsk_pr2_startup
-- ~~  - baxter_sim_hardware
-- ~~  - xacro
-- ~~  - joint_trajectory_controller
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'baxter_common'
-- ==> add_subdirectory(baxter_common/baxter_common)
-- +++ processing catkin package: 'baxter_description'
-- ==> add_subdirectory(baxter_common/baxter_description)
-- +++ processing catkin package: 'baxter_maintenance_msgs'
-- ==> add_subdirectory(baxter_common/baxter_maintenance_msgs)
[roseus.camke] Loading... PROJECT_NAME=baxter_maintenance_msgs USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- baxter_maintenance_msgs: 7 messages, 0 services
-- +++ processing catkin metapackage: 'baxter_sdk'
-- ==> add_subdirectory(baxter/baxter_sdk)
-- +++ processing catkin metapackage: 'baxter_simulator'
-- ==> add_subdirectory(baxter_simulator/baxter_simulator)
-- +++ processing catkin package: 'controller_manager_msgs'
-- ==> add_subdirectory(ros_control/controller_manager_msgs)
[roseus.camke] Loading... PROJECT_NAME=controller_manager_msgs USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- controller_manager_msgs: 3 messages, 6 services
-- +++ processing catkin metapackage: 'gazebo_ros_pkgs'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_ros_pkgs)
-- +++ processing catkin package: 'hardware_interface'
-- ==> add_subdirectory(ros_control/hardware_interface)
-- +++ processing catkin package: 'jsk_2014_picking_challenge'
-- ==> add_subdirectory(2014-semi/jsk_2014_picking_challenge)
[roseus.camke] Loading... PROJECT_NAME=jsk_2014_picking_challenge USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- jsk_2014_picking_challenge: 0 messages, 1 services
-- +++ processing catkin package: 'controller_interface'
-- ==> add_subdirectory(ros_control/controller_interface)
-- +++ processing catkin package: 'forward_command_controller'
-- ==> add_subdirectory(ros_controllers/forward_command_controller)
-- +++ processing catkin package: 'position_controllers'
-- ==> add_subdirectory(ros_controllers/position_controllers)
-- +++ processing catkin package: 'realtime_tools'
-- ==> add_subdirectory(realtime_tools)
-- +++ processing catkin package: 'controller_manager'
-- ==> add_subdirectory(ros_control/controller_manager)
-- +++ processing catkin package: 'force_torque_sensor_controller'
-- ==> add_subdirectory(ros_controllers/force_torque_sensor_controller)
-- +++ processing catkin metapackage: 'ros_control'
-- ==> add_subdirectory(ros_control/ros_control)
-- +++ processing catkin metapackage: 'ros_controllers'
-- ==> add_subdirectory(ros_controllers/ros_controllers)
-- +++ processing catkin package: 'baxter_core_msgs'
-- ==> add_subdirectory(baxter_common/baxter_core_msgs)
[roseus.camke] Loading... PROJECT_NAME=baxter_core_msgs USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- baxter_core_msgs: 26 messages, 4 services
CMake Error at /home/wken/catkin_ws/semi/build/baxter_common/baxter_core_msgs/cmake/baxter_core_msgs-genmsg.cmake:210 (add_custom_target):
  add_custom_target cannot create target
  "baxter_core_msgs_generate_messages_cpp" because another target with the
  same name already exists.  The existing target is a custom target created
  in source directory
  "/home/wken/catkin_ws/semi/src/2014-semi/jsk_2014_picking_challenge".  See
  documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  baxter_common/baxter_core_msgs/CMakeLists.txt:47 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/baxter_common/baxter_core_msgs/cmake/baxter_core_msgs-genmsg.cmake:413 (add_custom_target):
  add_custom_target cannot create target
  "baxter_core_msgs_generate_messages_eus" because another target with the
  same name already exists.  The existing target is a custom target created
  in source directory
  "/home/wken/catkin_ws/semi/src/2014-semi/jsk_2014_picking_challenge".  See
  documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  baxter_common/baxter_core_msgs/CMakeLists.txt:47 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/baxter_common/baxter_core_msgs/cmake/baxter_core_msgs-genmsg.cmake:616 (add_custom_target):
  add_custom_target cannot create target
  "baxter_core_msgs_generate_messages_lisp" because another target with the
  same name already exists.  The existing target is a custom target created
  in source directory
  "/home/wken/catkin_ws/semi/src/2014-semi/jsk_2014_picking_challenge".  See
  documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  baxter_common/baxter_core_msgs/CMakeLists.txt:47 (generate_messages)


CMake Error at /home/wken/catkin_ws/semi/build/baxter_common/baxter_core_msgs/cmake/baxter_core_msgs-genmsg.cmake:819 (add_custom_target):
  add_custom_target cannot create target
  "baxter_core_msgs_generate_messages_py" because another target with the
  same name already exists.  The existing target is a custom target created
  in source directory
  "/home/wken/catkin_ws/semi/src/2014-semi/jsk_2014_picking_challenge".  See
  documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  baxter_common/baxter_core_msgs/CMakeLists.txt:47 (generate_messages)


-- +++ processing catkin package: 'baxter_sim_io'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_io)
-- +++ processing catkin package: 'imu_sensor_controller'
-- ==> add_subdirectory(ros_controllers/imu_sensor_controller)
-- +++ processing catkin package: 'joint_state_controller'
-- ==> add_subdirectory(ros_controllers/joint_state_controller)
-- +++ processing catkin package: 'control_toolbox'
-- ==> add_subdirectory(control_toolbox)
[roseus.camke] Loading... PROJECT_NAME=control_toolbox USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- control_toolbox: 0 messages, 1 services
-- +++ processing catkin package: 'controller_manager_tests'
-- ==> add_subdirectory(ros_control/controller_manager_tests)
[roseus.camke] Loading... PROJECT_NAME=controller_manager_tests USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_interface'
-- ==> add_subdirectory(baxter_interface)
[roseus.camke] Loading... PROJECT_NAME=baxter_interface USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
CMake Error at /opt/ros/hydro/share/dynamic_reconfigure/cmake/dynamic_reconfigure-macros.cmake:57 (add_custom_target):
  add_custom_target cannot create target "baxter_interface_gencfg" because
  another target with the same name already exists.  The existing target is a
  custom target created in source directory
  "/home/wken/catkin_ws/semi/src/2014-semi/jsk_2014_picking_challenge".  See
  documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  baxter_interface/CMakeLists.txt:19 (generate_dynamic_reconfigure_options)


-- +++ processing catkin package: 'baxter_examples'
-- ==> add_subdirectory(baxter_examples)
[roseus.camke] Loading... PROJECT_NAME=baxter_examples USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_tools'
-- ==> add_subdirectory(baxter_tools)
[roseus.camke] Loading... PROJECT_NAME=baxter_tools USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_msgs'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_msgs)
[roseus.camke] Loading... PROJECT_NAME=gazebo_msgs USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- gazebo_msgs: 9 messages, 20 services
-- +++ processing catkin package: 'jsk_baxter_startup'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_startup)
-- +++ processing catkin package: 'transmission_interface'
-- ==> add_subdirectory(ros_control/transmission_interface)
-- +++ processing catkin package: 'joint_limits_interface'
-- ==> add_subdirectory(ros_control/joint_limits_interface)
-- +++ processing catkin package: 'effort_controllers'
-- ==> add_subdirectory(ros_controllers/effort_controllers)
[roseus.camke] Loading... PROJECT_NAME=effort_controllers USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_sim_controllers'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_controllers)
[roseus.camke] Loading... PROJECT_NAME=baxter_sim_controllers USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_plugins'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_plugins)
[roseus.camke] Loading... PROJECT_NAME=gazebo_plugins USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- +++ processing catkin package: 'gazebo_ros'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_ros)
[roseus.camke] Loading... PROJECT_NAME=gazebo_ros USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'gazebo_ros_control'
-- ==> add_subdirectory(gazebo_ros_pkgs/gazebo_ros_control)
[roseus.camke] Loading... PROJECT_NAME=gazebo_ros_control USE_ROSBILD=
[rospack] Error: package/stack 'gazebo_ros_control' depends on non-existent package 'ros_controllers' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for gazebo_ros_control
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxter_sim_kinematics'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_kinematics)
[roseus.camke] Loading... PROJECT_NAME=baxter_sim_kinematics USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'pr2_base_trajectory_action'
-- ==> add_subdirectory(jsk_robot/pr2_base_trajectory_action)
[roseus.camke] Loading... PROJECT_NAME=pr2_base_trajectory_action USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'velocity_controllers'
-- ==> add_subdirectory(ros_controllers/velocity_controllers)
-- +++ processing catkin package: 'baxter_gazebo'
-- ==> add_subdirectory(baxter_simulator/baxter_gazebo)
[roseus.camke] Loading... PROJECT_NAME=baxter_gazebo USE_ROSBILD=
[rospack] Error: package/stack 'gazebo_ros_control' depends on non-existent package 'ros_controllers' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for baxter_gazebo
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin metapackage: 'vision_visp'
-- ==> add_subdirectory(vision_visp/vision_visp)
-- +++ processing catkin package: 'visp_bridge'
-- ==> add_subdirectory(vision_visp/visp_bridge)
-- +++ processing catkin package: 'visp_camera_calibration'
-- ==> add_subdirectory(vision_visp/visp_camera_calibration)
[roseus.camke] Loading... PROJECT_NAME=visp_camera_calibration USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_camera_calibration: 4 messages, 1 services
-- +++ processing catkin package: 'visp_hand2eye_calibration'
-- ==> add_subdirectory(vision_visp/visp_hand2eye_calibration)
[roseus.camke] Loading... PROJECT_NAME=visp_hand2eye_calibration USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_hand2eye_calibration: 1 messages, 3 services
-- +++ processing catkin package: 'visp_tracker'
-- ==> add_subdirectory(vision_visp/visp_tracker)
[roseus.camke] Loading... PROJECT_NAME=visp_tracker USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- visp_tracker: 6 messages, 1 services
-- +++ processing catkin package: 'visp_auto_tracker'
-- ==> add_subdirectory(vision_visp/visp_auto_tracker)
-- +++ processing catkin package: 'jsk_baxter_web'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_web)
[roseus.camke] Loading... PROJECT_NAME=jsk_baxter_web USE_ROSBILD=
[rospack] Error: package/stack 'jsk_baxter_web' depends on non-existent package 'rwt_ros' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
[roseus.cmake] find rospack dpends fails for jsk_baxter_web
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_pepper_startup'
-- ==> add_subdirectory(jsk_robot/jsk_pepper_robot/jsk_pepper_startup)
[roseus.camke] Loading... PROJECT_NAME=jsk_pepper_startup USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_baxter_desktop'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/jsk_baxter_desktop)
[roseus.camke] Loading... PROJECT_NAME=jsk_baxter_desktop USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'baxtereus'
-- ==> add_subdirectory(jsk_robot/jsk_baxter_robot/baxtereus)
[roseus.camke] Loading... PROJECT_NAME=baxtereus USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
baxter_urdf: /home/wken/catkin_ws/semi/src/baxter_common/baxter_description/urdf
urdf_to_collada: /opt/ros/hydro/lib/collada_urdf/urdf_to_collada
collada2eus: /opt/ros/hydro/lib/euscollada/collada2eus
-- +++ processing catkin package: 'jsk_pr2_startup'
-- ==> add_subdirectory(jsk_robot/jsk_pr2_startup)
-- +++ processing catkin package: 'baxter_sim_hardware'
-- ==> add_subdirectory(baxter_simulator/baxter_sim_hardware)
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'xacro'
-- ==> add_subdirectory(xacro)
-- +++ processing catkin package: 'joint_trajectory_controller'
-- ==> add_subdirectory(ros_controllers/joint_trajectory_controller)
[roseus.camke] Loading... PROJECT_NAME=joint_trajectory_controller USE_ROSBILD=
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] エラー 1
Invoking "make cmake_check_build_system" failed

jsk_toolsがないと言われます。

$ source `rospack find jsk_tools`/src/bashrc.ros
[rospack] Error: stack/package jsk_tools not found
bash: /src/bashrc.ros: そのようなファイルやディレクトリはありません

Baxter実機の手を伸ばす

適当な箱の中に手を突っ込むプログラムを作る．

第二回ゼミ　開催時間変更

@ioryz, @wkentaro, @umoji, @Tnoriaki

明日のゼミですが，ソフトウェア第1の担当で午後は駒場に行かなければいけないので，

１２：００−　予定があいている人は７３A2で少し打ち合わせをしましょう

16:40 - 73A2集合でその後各自実験室でロボットを使いましょう
ー　2回ゼミまでのissue の確認
ー　3回ゼミまでのissue を考える

実機baxter用のeusサンプルコード

以下にbaxterの実機を動かす際に必要なサンプルコードがあります。

https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_baxter_robot/baxtereus/sample-for-real-baxter.l

baxter_simulatorがインストール時、エラーが出てきた

http://sdk.rethinkrobotics.com/wiki/Simulator_Installation
のコードを実行するとき、Baxter Simulator Installationの$ wstool updateを実行したあと、以下のようなエラーが出てきた。

remote: Compressing objects: 100% (4/4), done.
remote: Total 689 (delta 0), reused 0 (delta 0)
Receiving objects: 100% (689/689), 46.10 MiB | 541 KiB/s, done.
Resolving deltas: 100% (278/278), done.
[baxter_common] Done.
[baxter_examples] Fetching https://github.com/RethinkRobotics/baxter_examples.git (version master) to /home/jiangjun/catkin_ws/semi/baxter_examples
Cloning into '/home/jiangjun/catkin_ws/semi/baxter_examples'...
remote: Counting objects: 4334, done.
remote: Total 4334 (delta 0), reused 0 (delta 0)
Receiving objects: 100% (4334/4334), 18.18 MiB | 281 KiB/s, done.
Resolving deltas: 100% (2714/2714), done.
[baxter_examples] Done.
Exception caught during install: Error processing 'baxter_simulator' : [baxter_simulator] Checkout of [email protected]:RethinkRobotics/baxter_simulator.git version master into /home/jiangjun/catkin_ws/semi/baxter_simulator failed.

ERROR in config: Error processing 'baxter_simulator' : [baxter_simulator] Checkout of [email protected]:RethinkRobotics/baxter_simulator.git version master into /home/jiangjun/catkin_ws/semi/baxter_simulator failed.

みんなが作ったプログラムを実行してみる

みんなが作ったプログラムを実行してみましょう．
どういうプログラムがあって，どれがどういう通信をしているか理解したら，
https://docs.google.com/presentation/d/1GzXaNuXzJF_OUnuTSdu-CJ9CljfHD8_SApEdvVJtE2g/edit#slide=id.p
を更新しましょう．

baxterのグリッパーを考える

100均のアイテムなどをうまく使って、楽に吸い込めるようにしましょう。

ドラえもんアーム
https://vimeo.com/16185356

作戦

• 各BINには物体がひとつだと仮定
• オーダの順番に手を伸ばす
• 掴んだものが正しいか確認（重さ、色、、、、）

baxter_simulatorがインストールできない(hydro)

baxter_simulatorをgroovyではなくhydroでインストールしなおしたのですがエラーがでます。
どう対処すればいいでしょうか。

noriaki@noriaki-ThinkPad-T430s:~$ cd /ros_ws/
noriaki@noriaki-ThinkPad-T430s:/ros_ws$ catkin_make
Base path: /home/noriaki/ros_ws
Source space: /home/noriaki/ros_ws/src
Build space: /home/noriaki/ros_ws/build
Devel space: /home/noriaki/ros_ws/devel
Install space: /home/noriaki/ros_ws/install

Running command: "make cmake_check_build_system" in "/home/noriaki/ros_ws/build"

Running command: "make -j4 -l4" in "/home/noriaki/ros_ws/build"

[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] [ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
Built target sensor_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target genmsg_eus
[ 0%] [ 0%] Built target gensrv_eus
Built target genmanifest_eus
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target std_msgs_generate_messages_lisp
Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target baxter_left_arm_moveit_ikfast_plugin
[ 0%] Built target baxter_ikfast_right_arm_plugin_moveit_core_ALL_GEN_OUTPUT_FILES_eus
[ 1%] [ 1%] [ 1%] Built target baxter_interface_actionlib_ALL_GEN_OUTPUT_FILES_eus
Built target baxter_right_arm_moveit_ikfast_plugin
Built target baxter_interface_gencfg
[ 2%] Built target baxter_examples_actionlib_ALL_GEN_OUTPUT_FILES_eus
[ 2%] [ 3%] Built target baxter_examples_gencfg
Built target baxter_maintenance_msgs_generate_messages_cpp
[ 4%] Built target baxter_maintenance_msgs_generate_messages_lisp
[ 5%] Built target baxter_maintenance_msgs_generate_messages_py
[ 5%] [ 5%] Built target actionlib_generate_messages_py
Built target baxter_maintenance_msgs_message_generation_ALL_GEN_OUTPUT_FILES_eus
[ 5%] Built target actionlib_msgs_generate_messages_lisp
[ 5%] Built target actionlib_msgs_generate_messages_py
[ 5%] [ 5%] Built target rosgraph_msgs_generate_messages_cpp
Built target rosgraph_msgs_generate_messages_lisp
[ 5%] Built target actionlib_msgs_generate_messages_cpp
[ 5%] [ 5%] Built target rosgraph_msgs_generate_messages_py
[ 5%] Built target roscpp_generate_messages_py
Built target roscpp_generate_messages_cpp
[ 5%] Built target roscpp_generate_messages_lisp
[ 5%] [ 5%] [ 5%] Built target actionlib_generate_messages_cpp
Built target tf2_msgs_generate_messages_cpp
Built target tf2_msgs_generate_messages_py
[ 5%] Built target tf2_msgs_generate_messages_lisp
[ 5%] [ 5%] [ 5%] Built target actionlib_generate_messages_lisp
Built target tf_generate_messages_cpp
Built target tf_generate_messages_py
[ 5%] Built target tf_generate_messages_lisp
[ 6%] [ 6%] Built target baxter_tools_baxter_interface_ALL_GEN_OUTPUT_FILES_eus
[ 8%] [ 9%] Built target baxter_sim_kinematics_tf_ALL_GEN_OUTPUT_FILES_eus
Built target controller_manager_msgs_generate_messages_py
Built target controller_manager_msgs_generate_messages_lisp
[ 9%] Built target controller_manager_msgs_message_generation_ALL_GEN_OUTPUT_FILES_eus
[ 11%] [ 11%] Built target controller_manager_msgs_generate_messages_cpp
Built target trajectory_msgs_generate_messages_cpp
[ 11%] Built target trajectory_msgs_generate_messages_py
[ 11%] Built target trajectory_msgs_generate_messages_lisp
[ 11%] Built target gazebo_msgs_message_generation_ALL_GEN_OUTPUT_FILES_eus
[ 12%] Built target gazebo_plugins_gencfg
[ 12%] Built target MultiCameraPlugin
[ 12%] Built target gazebo_plugins_message_generation_ALL_GEN_OUTPUT_FILES_eus
[ 12%] Built target gazebo_ros_block_laser
[ 12%] [ 12%] [ 13%] Built target gazebo_ros_diff_drive
Built target gazebo_ros_f3d
Built target gazebo_ros_camera_utils
[ 13%] Built target gazebo_ros_force
[ 13%] [ 13%] Built target gazebo_ros_gpu_laser
[ 13%] Built target gazebo_ros_imu
Built target gazebo_ros_laser
[ 13%] Built target gazebo_ros_multicamera
[ 13%] Built target gazebo_ros_p3d
[ 14%] Built target gazebo_ros_openni_kinect
[ 14%] Built target gazebo_ros_planar_move
[ 14%] Built target gazebo_ros_projector
[ 15%] Built target gazebo_ros_skid_steer_drive
[ 15%] [ 15%] Built target gazebo_ros_prosilica
Built target gazebo_ros_template
[ 15%] Built target polled_camera_generate_messages_py
[ 15%] [ 15%] Built target _catkin_empty_exported_target
[ 15%] Built target hokuyo_node
Built target gazebo_ros_video
[ 15%] [ 15%] Built target topic_tools_generate_messages_cpp
Built target topic_tools_generate_messages_lisp
[ 15%] Built target topic_tools_generate_messages_py
[ 15%] Built target dynamic_reconfigure_generate_messages_cpp
[ 15%] [ 15%] [ 15%] Built target nav_msgs_generate_messages_cpp
Built target dynamic_reconfigure_generate_messages_lisp
Built target dynamic_reconfigure_generate_messages_py
[ 15%] Built target pcl_msgs_generate_messages_py
[ 15%] Built target pcl_msgs_generate_messages_lisp
[ 15%] [ 15%] Built target pcl_msgs_generate_messages_cpp
[ 15%] Built target diagnostic_msgs_generate_messages_cpp
Built target std_srvs_generate_messages_py
[ 15%] Built target std_srvs_generate_messages_cpp
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Built target joint_trajectory_controller
[ 98%] Built target rrbot
Scanning dependencies of target baxter_sim_controllers
Scanning dependencies of target default_robot_hw_sim
Linking CXX executable /home/noriaki/ros_ws/devel/lib/baxter_sim_hardware/baxter_emulator
[ 98%] Building CXX object baxter_simulator/baxter_sim_controllers/CMakeFiles/baxter_sim_controllers.dir/src/baxter_position_controller.cpp.o
[ 98%] Building CXX object gazebo_ros_pkgs/gazebo_ros_control/CMakeFiles/default_robot_hw_sim.dir/src/default_robot_hw_sim.cpp.o
/usr/bin/ld: warning: liborocos-kdl.so.1.2, needed by /opt/ros/hydro/lib/libtf_conversions.so, not found (try using -rpath or -rpath-link)
CMakeFiles/kinematics.dir/src/position_kinematics.cpp.o: In function arm_kinematics::Kinematics::~Kinematics()': position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0xe1): undefined reference toKDL::Chain::~Chain()'
position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0xf3): undefined reference to KDL::Chain::~Chain()' position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x105): undefined reference toKDL::Chain::~Chain()'
position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x117): undefined reference to KDL::JntArray::~JntArray()' position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x129): undefined reference toKDL::JntArray::~JntArray()'
position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x291): undefined reference to KDL::Chain::~Chain()' position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2a8): undefined reference toKDL::Chain::~Chain()'
position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2bf): undefined reference to KDL::Chain::~Chain()' position_kinematics.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2d6): undefined reference toKDL::JntArray::~JntArray()'
position_kinematics.cpp:(.text.ZN14arm_kinematics10KinematicsD2Ev[ZN14arm_kinematics10KinematicsD5Ev]+0x2ed): undefined reference to KDL::JntArray::~JntArray()' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(KDL::Chain const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::ChainIkSolverVel_pinv::ChainIkSolverVel_pinv(KDL::Chain const&, double, int)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Segment::~Segment()'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Chain::Chain()' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Tree::Tree(std::basic_string<char, std::char_traits, std::allocator > const&)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Tree::addSegment(KDL::Segment const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::JntArray::JntArray(unsigned int)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Joint::Joint(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, KDL::Vector const&, KDL::Vector const&, KDL::Joint::JointType const&, double const&, double const&, double const&, double const&, double const&)' /opt/ros/hydro/lib/libtf_conversions.so: undefined reference toKDL::operator(KDL::Rotation const&, KDL::Rotation const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::ChainIdSolver_RNE::ChainIdSolver_RNE(KDL::Chain const&, KDL::Vector)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Joint::~Joint()'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::RotationalInertia::RotationalInertia(double, double, double, double, double, double)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(KDL::Chain const&, KDL::JntArray const&, KDL::JntArray const&, KDL::ChainFkSolverPos&, KDL::ChainIkSolverVel&, unsigned int, double)'
/opt/ros/hydro/lib/libtf_conversions.so: undefined reference to KDL::Rotation::GetQuaternion(double&, double&, double&, double&) const' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::JntArray::JntArray()'
/opt/ros/hydro/lib/libtf_conversions.so: undefined reference to KDL::Rotation::Quaternion(double, double, double, double)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Chain::getSegment(unsigned int) const'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Joint::Joint(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, KDL::Joint::JointType const&, double const&, double const&, double const&, double const&, double const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::JntArray::resize(unsigned int)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Tree::operator=(KDL::Tree const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::JntArray::operator()(unsigned int, unsigned int)'
/opt/ros/hydro/lib/libtf_conversions.so: undefined reference to KDL::Vector::Normalize(double)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::RigidBodyInertia::RigidBodyInertia(double, KDL::Vector const&, KDL::RotationalInertia const&)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::RotationalInertia::~RotationalInertia()' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::operator(KDL::Rotation const&, KDL::RigidBodyInertia const&)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Segment::Segment(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, KDL::Joint const&, KDL::Frame const&, KDL::RigidBodyInertia const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Tree::getChain(std::basic_string<char, std::char_traits, std::allocator > const&, std::basic_string<char, std::char_traits, std::allocator > const&, KDL::Chain&) const'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Chain::operator=(KDL::Chain const&)' collect2: ld はステータス 1 で終了しました make[2]: *** [/home/noriaki/ros_ws/devel/lib/baxter_sim_kinematics/kinematics] エラー 1 make[1]: *** [baxter_simulator/baxter_sim_kinematics/CMakeFiles/kinematics.dir/all] エラー 2 make[1]: *** 未完了のジョブを待っています.... [100%] Building CXX object baxter_simulator/baxter_sim_controllers/CMakeFiles/baxter_sim_controllers.dir/src/baxter_velocity_controller.cpp.o /usr/bin/ld: warning: liborocos-kdl.so.1.2, needed by /opt/ros/hydro/lib/libtf_conversions.so, not found (try using -rpath or -rpath-link) CMakeFiles/baxter_emulator.dir/src/baxter_emulator.cpp.o: In functionarm_kinematics::Kinematics::~Kinematics()':
baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0xe1): undefined reference to KDL::Chain::~Chain()' baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0xf3): undefined reference toKDL::Chain::~Chain()'
baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x105): undefined reference to KDL::Chain::~Chain()' baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x117): undefined reference toKDL::JntArray::~JntArray()'
baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x129): undefined reference to KDL::JntArray::~JntArray()' baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x291): undefined reference toKDL::Chain::~Chain()'
baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2a8): undefined reference to KDL::Chain::~Chain()' baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2bf): undefined reference toKDL::Chain::~Chain()'
baxter_emulator.cpp:(.text.ZN14arm_kinematics10KinematicsD2Ev[ZN14arm_kinematics10KinematicsD5Ev]+0x2d6): undefined reference to KDL::JntArray::~JntArray()' baxter_emulator.cpp:(.text._ZN14arm_kinematics10KinematicsD2Ev[_ZN14arm_kinematics10KinematicsD5Ev]+0x2ed): undefined reference toKDL::JntArray::~JntArray()'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(KDL::Chain const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::ChainIkSolverVel_pinv::ChainIkSolverVel_pinv(KDL::Chain const&, double, int)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Segment::~Segment()' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Chain::Chain()'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Tree::Tree(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Tree::addSegment(KDL::Segment const&, std::basic_string<char, std::char_traits, std::allocator > const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::JntArray::JntArray(unsigned int)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Joint::Joint(std::basic_string<char, std::char_traits, std::allocator > const&, KDL::Vector const&, KDL::Vector const&, KDL::Joint::JointType const&, double const&, double const&, double const&, double const&, double const&)'
/opt/ros/hydro/lib/libtf_conversions.so: undefined reference to KDL::operator*(KDL::Rotation const&, KDL::Rotation const&)' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::ChainIdSolver_RNE::ChainIdSolver_RNE(KDL::Chain const&, KDL::Vector)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::Joint::~Joint()' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::RotationalInertia::RotationalInertia(double, double, double, double, double, double)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(KDL::Chain const&, KDL::JntArray const&, KDL::JntArray const&, KDL::ChainFkSolverPos&, KDL::ChainIkSolverVel&, unsigned int, double)' /opt/ros/hydro/lib/libtf_conversions.so: undefined reference toKDL::Rotation::GetQuaternion(double&, double&, double&, double&) const'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::JntArray::JntArray()' /opt/ros/hydro/lib/libtf_conversions.so: undefined reference toKDL::Rotation::Quaternion(double, double, double, double)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Chain::getSegment(unsigned int) const' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Joint::Joint(std::basic_string<char, std::char_traits, std::allocator > const&, KDL::Joint::JointType const&, double const&, double const&, double const&, double const&, double const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::JntArray::resize(unsigned int)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Tree::operator=(KDL::Tree const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::JntArray::operator()(unsigned int, unsigned int)' /opt/ros/hydro/lib/libtf_conversions.so: undefined reference toKDL::Vector::Normalize(double)'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::RigidBodyInertia::RigidBodyInertia(double, KDL::Vector const&, KDL::RotationalInertia const&)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::RotationalInertia::~RotationalInertia()'
/opt/ros/hydro/lib/libkdl_parser.so: undefined reference to KDL::operator*(KDL::Rotation const&, KDL::RigidBodyInertia const&)' /opt/ros/hydro/lib/libkdl_parser.so: undefined reference toKDL::Segment::Segment(std::basic_string<char, std::char_traits, std::allocator > const&, KDL::Joint const&, KDL::Frame const&, KDL::RigidBodyInertia const&)'
/home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference to KDL::Tree::getChain(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, KDL::Chain&) const' /home/noriaki/ros_ws/devel/lib/libbaxter_sim_kinematics.so: undefined reference toKDL::Chain::operator=(KDL::Chain const&)'
collect2: ld はステータス 1 で終了しました
make[2]: *** [/home/noriaki/ros_ws/devel/lib/baxter_sim_hardware/baxter_emulator] エラー 1
make[1]: *** [baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/all] エラー 2
[100%] Building CXX object baxter_simulator/baxter_sim_controllers/CMakeFiles/baxter_sim_controllers.dir/src/baxter_effort_controller.cpp.o
[100%] Building CXX object baxter_simulator/baxter_sim_controllers/CMakeFiles/baxter_sim_controllers.dir/src/baxter_head_controller.cpp.o
/home/noriaki/ros_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp: メンバ関数 ‘virtual bool gazebo_ros_control::DefaultRobotHWSim::initSim(const string&, ros::NodeHandle, gazebo::physics::ModelPtr, const urdf::Model, std::vector<transmission_interface::TransmissionInfo>)’ 内:
/home/noriaki/ros_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:97:33: 警告: extended initializer lists only available with -std=c++0x or -std=gnu++0x [デフォルトで有効]
/home/noriaki/ros_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:97:33: 警告: extended initializer lists only available with -std=c++0x or -std=gnu++0x [デフォルトで有効]
Linking CXX shared library /home/noriaki/ros_ws/devel/lib/libbaxter_sim_controllers.so
[100%] Built target baxter_sim_controllers
Linking CXX shared library /home/noriaki/ros_ws/devel/lib/libdefault_robot_hw_sim.so
[100%] Built target default_robot_hw_sim
make: ** [all] エラー 2
Invoking "make" failed

UniGripper vacuum gripper is really amazing!

https://www.youtube.com/user/unigripper
A company called UniGrripper sent a mail to us through the Amazon mailing list, introducing their amazing vacuum gripper.
Maybe it can help us get some new ideas for our vacuum gripper.

baxterのarmsがなくなってしまいました

baxterのsimulatorを立ちがげると、以下のようなエラーが一つ出てきました、そして、gazeboの中のbaxterのarmsはなくなってしまいました。

GitとGitHubの使い方を覚える

初めてのpull request @ GitHub
などを参考にしてください。　@umoji @Tnoriaki

roseus scripts/main.l が実行できません。

$ roseus scripts/main.l
configuring by "/opt/ros/hydro/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 0x4823de0[16374] --> 0x4c80680[32748] top=3782
irtgl irtviewer 
EusLisp 9.00(7906365 e4262ae) for Linux64 created on host18.storm.ros.org(Wed Sep 24 11:55:04 UTC 2014)
roseus ;; loading roseus("") on euslisp((9.00 host18.storm.ros.org Wed Sep 24 11:55:04 UTC 2014 7906365 e4262ae))
eustf [ERROR] [1414583298.216336490]: Could not find roseus messages under (/home/wken/.ros/roseus/hydro /home/wken/catkin_ws/semi/devel/share/roseus/ros /opt/ros/hydro/share/roseus/ros)
try rosrun roseus generate-all-msg-srv.sh std_msgs
;; can not find nil/msg/ directory for [std_msgs] packages

忘年会について

@k-okada
JSKの人から忘年会に参加しないのかと言われました。
どうすればいいのでしょうか? （ゼミ生一同）

次回 2/18(水)13:00- までにやること

• indigo, (Ubuntu14.04)を入れる。
• グリッパーの機構を考える。また材料を調達。
• virtual_force_publisherの準備。 (物体を判別するため)
• #93 @iory
• #92 @wkentaro

picking challenge の gazeboを試す