Install SampleRobot python scripts and comment out symbolic links to avoid duplication #581

chiwunau · 2015-04-16T12:07:27Z

I am not sure about the reason of creating symbolic link of ./idl and ./samples, but it leads to duplication when let say rosrun hrpsys *.py

k-okada · 2015-04-16T12:33:57Z

Please do not merge, I'll fix this

k-okada · 2015-04-16T12:34:31Z

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k-okada · 2015-04-16T13:54:04Z

I think

file(GLOB python_scripts RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.py")
install(PROGRAMS ${python_scripts} DESTINATION share/hrpsys/samples/SampleRobot)

is ok, could you fix this PR?

use rebase -> squash to clean up commit -> http://gitready.com/advanced/2009/02/10/squashing-commits-with-rebase.html

chiwunau · 2015-04-19T05:43:37Z

fixed.

k-okada · 2015-04-19T06:07:36Z

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k-okada · 2015-04-19T06:17:00Z

you do not have to modify CMakeList.txt, and only add two line #581 (comment) in sample/SampleRobot/CMakeLists.txt, also please remove white lines.

k-okada · 2015-04-19T06:33:42Z

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… HEAD

chiwunau · 2015-04-19T08:42:09Z

fixed as @k-okada told.
However, after merged the origin/master
when rosrun hrpsys samplerobot_walk.py, comes the following error

au@au-ThinkPad-T440p:~$ rosrun hrpsys samplerobot_walk.py 
[rosrun] You have chosen a non-unique executable, please pick one of the following:
1) /home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
2) /home/au/ros/hydro_parent/devel/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
3) /home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
4) /home/au/ros/hydro_parent/devel/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
5) /home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
6) /home/au/ros/hydro_parent/devel/share/hrpsys/samples/SampleRobot/samplerobot_walk.py
#? 1
configuration ORB with au-ThinkPad-T440p:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x21ca998> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x21ca998> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py] creating components
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
RTC named "seq" already exists.
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x21d5dd0> (315.3.0)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x21db638>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
RTC named "sh" already exists.
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x21d5050> (315.3.0)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x21e0e18>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
RTC named "fk" already exists.
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x1f89638> (315.3.0)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x21e37e8>
[hrpsys.py] connecting components
('sh.qOutandHGcontroller0.qIn', 'are already connected')
('HGcontroller0.qOutandSampleRobot(Robot)0.qRef', 'are already connected')
('SampleRobot(Robot)0.qandsh.currentQIn', 'are already connected')
('SampleRobot(Robot)0.qandfk.q', 'are already connected')
('sh.qOutandfk.qRef', 'are already connected')
('seq.qRefandsh.qIn', 'are already connected')
('seq.tqRefandsh.tqIn', 'are already connected')
('seq.basePosandsh.basePosIn', 'are already connected')
('seq.baseRpyandsh.baseRpyIn', 'are already connected')
('seq.zmpRefandsh.zmpIn', 'are already connected')
('seq.optionalDataandsh.optionalDataIn', 'are already connected')
('sh.basePosOutandseq.basePosInit', 'are already connected')
('sh.basePosOutandfk.basePosRef', 'are already connected')
('sh.baseRpyOutandseq.baseRpyInit', 'are already connected')
('sh.baseRpyOutandfk.baseRpyRef', 'are already connected')
('sh.qOutandseq.qInit', 'are already connected')
('sh.zmpOutandseq.zmpRefInit', 'are already connected')
[hrpsys.py] activating components
seqis already serialized
shis already serialized
fkis already serialized
[hrpsys.py] setup logger
[hrpsys.py]   setupLogger : self.log is not defined, please check rtcd.conf or rtcd arguments
[hrpsys.py] setup joint groups
[hrpsys.py] initialized successfully
Traceback (most recent call last):
  File "/home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py", line 38, in <module>
    demo()
  File "/home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py", line 35, in demo
    loadPattern("$(OPENHRP_DIR)/share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample")
  File "/home/au/ros/hydro_parent/devel/share/hrpsys/share/hrpsys/samples/SampleRobot/samplerobot_walk.py", line 30, in loadPattern
    hcf.loadPattern(basename, tm)
  File "/home/au/ros/hydro_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1000, in loadPattern
    return self.seq_svc.loadPattern(fname, tm)
  File "/home/au/ros/hydro_parent/devel/lib/python2.7/dist-packages/hrpsys/SequencePlayerService_idl.py", line 155, in loadPattern
    return _omnipy.invoke(self, "loadPattern", _0_OpenHRP.SequencePlayerService._d_loadPattern, args)
omniORB.CORBA.BAD_PARAM: CORBA.BAD_PARAM(omniORB.BAD_PARAM_WrongPythonType, CORBA.COMPLETED_NO)

k-okada · 2015-04-19T09:05:25Z

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k-okada · 2015-04-19T09:18:09Z

try compile after rm -fr
and make sure that you
have /home/au/ros/hydro_parent/devel/lib/python2.7/dist-packages/hrpsys/SequencePlayerService_idl.py

also make sure that
your /home/au/ros/hydro_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py
is same version as
https://github.com/fkanehiro/hrpsys-base/blob/master/python/hrpsys_config.py#L671

◉ Kei Okada

chiwunau · 2015-04-20T06:32:33Z

I tried catkin clean --all then catkin b
and I also have to latest version of those files
but the same error stll occurs.

k-okada · 2015-04-21T03:56:35Z

taken over by #592

k-okada · 2015-04-21T04:11:47Z

I see, the problem is
0be6641#diff-6c33bc3d5bb515b220c1b7d93821cd9dR668, install multiple place is ok, one is for hrpsys and on is for ros convention.

chiwunau · 2015-04-21T06:31:25Z

I see, thank you.

k-okada · 2015-04-22T09:02:06Z

please close this issue

k-okada mentioned this pull request Apr 16, 2015

Error occurs when rtmlaunch samplerobot-drc-testbed.launch #577

Closed

chiwunau force-pushed the install_py branch from 0b43857 to 2fe34d8 Compare April 19, 2015 05:40

chiwunau added 2 commits April 19, 2015 16:58

install pyhton scripts under deval

912efdb

Merge branch 'master' of http://github.com/fkanehiro/hrpsys-base into…

2040556

… HEAD

chiwunau force-pushed the install_py branch from 518c5d9 to 2040556 Compare April 19, 2015 08:38

k-okada mentioned this pull request Apr 21, 2015

Install SampleRobot python scripts and comment out symbolic links to avoid duplication #592

Closed

chiwunau closed this Apr 22, 2015

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Install SampleRobot python scripts and comment out symbolic links to avoid duplication #581

Install SampleRobot python scripts and comment out symbolic links to avoid duplication #581

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Install SampleRobot python scripts and comment out symbolic links to avoid duplication #581

Install SampleRobot python scripts and comment out symbolic links to avoid duplication #581

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