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RTCmanager connection issue #25

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130s opened this issue Jan 15, 2014 · 28 comments

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commented Jan 15, 2014

(Update) Originally titled as [hrpsys.py] wait for RTCmanager : None, but over time related issues are succeeding so I've renamed with more general title.


On Raring using the commit 49d636a for rtmros_nextage and this commit for hironx, I get:

$ rtls 192.168.128.10:15005/
ModelLoader  nextage.host_cxt/  RobotHardware0.rtc
$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py RobotHardware0 /opt/jsk/etc/HIRONX/model/main.wrl -- -ORBInitRef NameService=corbaloc:iiop:192.168.128.10:15005/NameService
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  130s-t440s : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
Manager not found
[hrpsys.py]  wait for RTCmanager :  None
Manager not found
[hrpsys.py]  wait for RTCmanager :  None
Manager not found
:

With slightly differentl command arguments (as suggested here), the result becoomes different:

$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py --  --host 192.168.128.10 --robot RobotHardware0 --port 15005 --modelfile /opt/jsk/etc/HIRONX/model/main.wrl
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  130s-t440s : 15005
---------------------------------------------------------------------------
TRANSIENT                                 Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    176             else:
    177                 filename = fname
--> 178             __builtin__.execfile(filename, *where)

/home/n130s/data/Dropbox/ROS/hydro_raring/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     66         args.robot = unknown[0]
     67         args.modelfile = unknown[1]
---> 68     nxc = nextage_client.NextageClient()
     69     nxc.init(robotname=args.robot, url=args.modelfile)
     70 

/home/n130s/data/Dropbox/ROS/hydro_raring/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.pyc in __init__(self)
     64         super class as the tradition there.
     65         '''
---> 66         super(NextageClient, self).__init__()
     67         self._hand = NextageHand(self)
     68 

/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in __init__(self, cname)
    721 
    722     def __init__(self, cname="[hrpsys.py] "):
--> 723         initCORBA()
    724         self.configurator_name = cname
    725 

/home/n130s/link/ROS/hydro_raring/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.pyc in initCORBA()
    270 
    271         nameserver = orb.resolve_initial_references("NameService");
--> 272         rootnc = nameserver._narrow(CosNaming.NamingContext)
    273         return None
    274 

/usr/lib/python2.7/dist-packages/omniORB/CORBA.pyc in _narrow(self, dest)
    796         except KeyError:
    797             pass
--> 798         return _omnipy.narrow(self, repoId, 1)
    799 
    800     def _unchecked_narrow(self, dest):

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
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commented Jan 15, 2014

Inside the robot on QNX,

$ more /opt/jsk/var/log/rtcd.log                
Logger::Logger: streambuf address = 0x805fc70
hrpExecutionContext is registered
pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav
dof = 15
open_iob - NEXTAGE OPEN  I/F v1 instance at 0x80b8e08
-- NEXTAGE::OpenV10::open_iob - shmif instance at 0x80b7ee8

the number of gyros = 0
the number of accelerometers = 0
the number of force sensors = 0
open_iob - inxifv1 isn't NULL, ignored
period = 5[ms], priority = 49
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commented Jan 15, 2014

hmmm, Can you please add the output from when you do,

prompt> export ORBtraceLevel=40

before ipython

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commented Jan 15, 2014

--ORBInitRef.. option is deprecated, use --host and --port

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commented Jan 15, 2014

configuration ORB with 130s-t440s : 15005
should be
configuration ORB with 192.168.128.10: 15005
???
please force fix rtm.py with
nshost = '192.168.128.10'
print "configuration ORB with ", nshost, ":", nsport
and see what's happens

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commented Jan 15, 2014

I'm not sure but we have to change nextage.py as follows, to use --host command option

from nextage_ros_bridge import nextage_client

from hrpsys import rtm
#import rtm                                                                                                           
import argparse
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commented Jan 15, 2014

Ah, this makes more sense

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commented Jan 15, 2014

(sending via email doesn't reflect formatting blah)

With this suggested change:

from nextage_ros_bridge import nextage_client

from hrpsys import rtm
#import rtm                                                                                                           
import argparse

Error msg changed:

$ rtls 192.168.128.10:15005/ModelLoader
nextage.host_cxt/  RobotHardware0.rtc
$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py --  --host 192.168.128.10 --robot RobotHardware0 --port 15005 --modelfile /opt/jsk/etc/HIRONX/model/main.wrl
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  192.168.128.10 : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
---------------------------------------------------------------------------
herror                                    Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    176             else:
    177                 filename = fname
--> 178             __builtin__.execfile(filename, *where)

/home/n130s/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     67         args.modelfile = unknown[1]
     68     nxc = nextage_client.NextageClient()
---> 69     nxc.init(robotname=args.robot, url=args.modelfile)
     70 
     71 # for simulated robot

/home/n130s/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.pyc in init(self, robotname, url)
     77         @type url: str
     78         '''
---> 79         HIRONX.init(self, robotname=robotname, url=url)
     80 
     81     def turn_handlight_r(self, is_on=True):

/home/n130s/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url)
     95         @type url: str
     96         '''
---> 97         HrpsysConfigurator.init(self, robotname=robotname, url=url)
     98         self.setSelfGroups()
     99 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in init(self, robotname, url)
    703 
    704         print self.configurator_name, "finding RTCManager and RobotHardware"
--> 705         self.waitForRTCManagerAndRoboHardware(robotname)
    706         self.sensors = self.getSensors(url)
    707 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRTCManagerAndRoboHardware(self, robotname, managerhost)
    510 
    511     def waitForRTCManagerAndRoboHardware(self, robotname="Robot", managerhost=nshost):
--> 512         self.waitForRTCManager(managerhost)
    513         self.waitForRobotHardware(robotname)
    514         self.checkSimulationMode()

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRTCManager(self, managerhost)
    473             if managerhost == "localhost":
    474                 managerhost = socket.gethostname()
--> 475             self.ms = rtm.findRTCmanager(managerhost)
    476             print self.configurator_name, "wait for RTCmanager : ", managerhost
    477 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.pyc in findRTCmanager(hostname, rnc)
    335         mgr = None
    336         hostnames = [hostname, hostname.split(".")[0],
--> 337                      socket.gethostbyaddr(hostname)[0],
    338                      socket.gethostbyaddr(hostname)[0].split(".")[0]]
    339         for h in hostnames:

herror: [Errno 1] Unknown host

At [hrpsys.py] finding RTCManager and RobotHardware it halts for a few second.

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commented Jan 15, 2014

Can you see what managerhost is at hrpsys_config.py:475.

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commented Jan 15, 2014

[hrpsys.py] 130s-DEBUG) wait for RTCmanager : None

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commented Jan 15, 2014

I suspect this fixes did not needed -> start-jsk/hironx-package#64 (comment)

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commented Jan 15, 2014

Hardcoding rtm.py like this still causes the same/similar error.

rootnc = None
#nshost = None
nshost = '192.168.128.10'  ##DEBUG 130s
nsport = None
$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py --  --host 192.168.128.10 --robot RobotHardware0 --port 15005 --modelfile /opt/jsk/etc/HIRONX/model/main.wrl
Python 2.7.4 (default, Sep 26 2013, 03:20:26) 
Type "copyright", "credits" or "license" for more information.

IPython 0.13.2 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.
configuration ORB with  192.168.128.10 : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
[hrpsys.py]  130s-DEBUG) wait for RTCmanager :  192.168.128.10
---------------------------------------------------------------------------
herror                                    Traceback (most recent call last)
/usr/lib/python2.7/dist-packages/IPython/utils/py3compat.pyc in execfile(fname, *where)
    176             else:
    177                 filename = fname
--> 178             __builtin__.execfile(filename, *where)

/home/n130s/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py in <module>()
     66         args.modelfile = unknown[1]
     67     nxc = nextage_client.NextageClient()
---> 68     nxc.init(robotname=args.robot, url=args.modelfile)
     69 
     70 # for simulated robot

/home/n130s/catkinws/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.pyc in init(self, robotname, url)
     77         @type url: str
     78         '''
---> 79         HIRONX.init(self, robotname=robotname, url=url)
     80 
     81     def turn_handlight_r(self, is_on=True):

/home/n130s/catkinws/src/rtm-ros-robotics/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.pyc in init(self, robotname, url)
     95         @type url: str
     96         '''
---> 97         HrpsysConfigurator.init(self, robotname=robotname, url=url)
     98         self.setSelfGroups()
     99 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in init(self, robotname, url)
    704 
    705         print self.configurator_name, "finding RTCManager and RobotHardware"
--> 706         self.waitForRTCManagerAndRoboHardware(robotname)
    707         self.sensors = self.getSensors(url)
    708 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRTCManagerAndRoboHardware(self, robotname, managerhost)
    511 
    512     def waitForRTCManagerAndRoboHardware(self, robotname="Robot", managerhost=nshost):
--> 513         self.waitForRTCManager(managerhost)
    514         self.waitForRobotHardware(robotname)
    515         self.checkSimulationMode()

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.pyc in waitForRTCManager(self, managerhost)
    474                 managerhost = socket.gethostname()
    475             print self.configurator_name, "130s-DEBUG) wait for RTCmanager : ", managerhost
--> 476             self.ms = rtm.findRTCmanager(managerhost)
    477             print self.configurator_name, "wait for RTCmanager : ", managerhost
    478 

/home/n130s/catkinws/devel/lib/python2.7/dist-packages/hrpsys/rtm.py in findRTCmanager(hostname, rnc)
    336         mgr = None
    337         hostnames = [hostname, hostname.split(".")[0],
--> 338                      socket.gethostbyaddr(hostname)[0],
    339                      socket.gethostbyaddr(hostname)[0].split(".")[0]]
    340         for h in hostnames:

herror: [Errno 1] Unknown host
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commented Jan 15, 2014

what is hostname variable in 338 of rtm.py?

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commented Jan 15, 2014

@k-okada

I suspect this fixes does not needed -> start-jsk/hironx-package#64 (comment)

I'm not using that change (that is only tentatively applied on Ubuntu with nxc100).

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commented Jan 15, 2014

rtm.py

        print('130s-DEBUG) hostname=', hostname)
        hostnames = [hostname, hostname.split(".")[0],
                     socket.gethostbyaddr(hostname)[0],
                     socket.gethostbyaddr(hostname)[0].split(".")[0]]

Result:

('130s-DEBUG) hostname=', '192.168.128.10')

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commented Jan 15, 2014

so, please check

$ pytnon
> import socket
> hostname='192.168.128.10'
> hostname.split(".")[0]
> socket.gethostbyaddr(hostname)
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commented Jan 15, 2014

I see, this code assumes you use hostname, not ip address for --host option. try with nx010 or something. or remove, hostname.split(".")[0],

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commented Jan 15, 2014

This would use "192" as the hostname.

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commented Jan 15, 2014

Now asking a robot "owner" if he can set hostname on this robot...

130s pushed a commit to 130s/rtmros_nextage that referenced this issue Jan 15, 2014

130s pushed a commit that referenced this issue Jan 15, 2014

Isaac Isao Saito
Merge pull request #26 from 130s/groovy-devel
Improve nextage.py import order and source (based on #25 (comment))
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commented Jan 15, 2014

(Btw this error herror: [Errno 1] Unknown host occurs both on Raring and on Precise)

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commented Jan 15, 2014

add ticket at here -> http://code.google.com/p/hrpsys-base/issues/detail?id=173

quick hack might be....

    # fqdn                                                                                                        
    mgr = None
    hostnames = [hostname, hostname.split(".")[0]]
    try:
            hostnames.append(socket.gethostbyaddr(hostname)[0])
            hostnames.append(socket.gethostbyaddr(hostname)[0].split(".")[0])
    except:
            print 'could not find gethostbyaddr(', hostname,')'
            pass
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commented Jan 15, 2014

Worked with hostname:

 $ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py --  --host nextage --robot RobotHardware0 --port 15005 --modelfile /opt/jsk/etc/HIRONX/model/main.wrl
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commented Jan 15, 2014

Ok we can leave this issue to http://code.google.com/p/hrpsys-base/issues/detail?id=173 and close. Thank you so much!!!

@130s 130s closed this Jan 15, 2014

k-okada added a commit to start-jsk/rtmros_hironx that referenced this issue Feb 14, 2014

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commented Feb 14, 2014

Hope this issue in hrpsys-base will soon be addressed. I just needed [this patch in another robot client.

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commented Feb 17, 2014

本件,以下にテストプログラムをつくりましたが,これは何が悪かったんでしたでしたっけ?
start-jsk/hrpsys#1

テストプログラムの結果は以下のようになるんですが(実際はrostestで結果が表示されないのと,
以下はデバッグコードがふんだんに取り込まれていますが),hostname='unknown'の時(名前が引けない時)

File
"/home/k-okada/catkin_ws/ws_hrpsys/devel/lib/python2.7/dist-packages/hrpsys/rtm.py",
line 337, in findRTCmanager
socket.gethostbyaddr(hostname)[0],
socket.gaierror: [Errno -2] Name or service not known

という表示がでるんですが,これがわかりづらい,という話でしたでしょうか?

以下の部分からすると,hostnameがIPのときにhostname.split(".")[0]が192を返しますが,
それの前のところで,hostnames = [hostname] になっているからOKに見えますが,ちがいましたでしょうか?

rtm.py

    print('130s-DEBUG) hostname=', hostname)
    hostnames = [hostname, hostname.split(".")[0],
                 socket.gethostbyaddr(hostname)[0],
                 socket.gethostbyaddr(hostname)[0].split(".")[0]]

Result:

('130s-DEBUG) hostname=', '192.168.128.10'

$ ./test-hostname.py
configuration ORB with kokada-t430s : 2809
['kokada-t430s', 'kokada-t430s', 'kokada-t430s', 'kokada-t430s']
<rtm.RTCmanager instance at 0x3b3e488> <rtm.RTcomponent instance at
0x3b3e680>
configuration ORB with localhost : 2809
['localhost', 'localhost', 'localhost', 'localhost']
<rtm.RTCmanager instance at 0x3b3e8c0> <rtm.RTcomponent instance at
0x3b3e7e8>
configuration ORB with 127.0.0.1 : 2809
['127.0.0.1', '127', 'localhost', 'localhost']
<rtm.RTCmanager instance at 0x3b3e950> <rtm.RTcomponent instance at
0x3b3e830>
configuration ORB with kokada-t430s : 2809
['kokada-t430s', 'kokada-t430s', 'kokada-t430s', 'kokada-t430s']
<rtm.RTCmanager instance at 0x3b3e3f8> <rtm.RTcomponent instance at
0x3b3e908>
configuration ORB with unknown : 2809
Traceback (most recent call last):
File "./test-hostname.py", line 22, in
test_initCORBA('unknown')
File "./test-hostname.py", line 14, in test_initCORBA
ms = rtm.findRTCmanager()
File
"/home/k-okada/catkin_ws/ws_hrpsys/devel/lib/python2.7/dist-packages/hrpsys/rtm.py",
line 337, in findRTCmanager
socket.gethostbyaddr(hostname)[0],
socket.gaierror: [Errno -2] Name or service not known

On Fri, Feb 14, 2014 at 2:23 PM, Isaac Isao Saito
notifications@github.comwrote:

Hope this issuehttp://code.google.com/p/hrpsys-base/issues/detail?id=173in
hrpsys-base will soon be addressed. I just needed [this patchhttps://github.com/start-jsk/rtmros_hironx/pull/3in another robot client.


Reply to this email directly or view it on GitHubhttps://github.com//issues/25#issuecomment-35056984
.

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commented Feb 17, 2014

それとも,セットしたIPが間違えているかネットワークがとどかなくて,
herror: [Errno 1] Unknown host
と出ているけど,気が付きにくい,ということでしょうか?

2014-02-18 2:32 GMT+09:00 Kei Okada k-okada@jsk.t.u-tokyo.ac.jp:

本件,以下にテストプログラムをつくりましたが,これは何が悪かったんでしたでしたっけ?
start-jsk/hrpsys#1

テストプログラムの結果は以下のようになるんですが(実際はrostestで結果が表示されないのと,
以下はデバッグコードがふんだんに取り込まれていますが),hostname='unknown'の時(名前が引けない時)

File
"/home/k-okada/catkin_ws/ws_hrpsys/devel/lib/python2.7/dist-packages/hrpsys/rtm.py",
line 337, in findRTCmanager
socket.gethostbyaddr(hostname)[0],
socket.gaierror: [Errno -2] Name or service not known

という表示がでるんですが,これがわかりづらい,という話でしたでしょうか?

以下の部分からすると,hostnameがIPのときにhostname.split(".")[0]が192を返しますが,
それの前のところで,hostnames = [hostname] になっているからOKに見えますが,ちがいましたでしょうか?

rtm.py

    print('130s-DEBUG) hostname=', hostname)
    hostnames = [hostname, hostname.split(".")[0],
                 socket.gethostbyaddr(hostname)[0],
                 socket.gethostbyaddr(hostname)[0].split(".")[0]]

Result:

('130s-DEBUG) hostname=', '192.168.128.10'

$ ./test-hostname.py
configuration ORB with kokada-t430s : 2809
['kokada-t430s', 'kokada-t430s', 'kokada-t430s', 'kokada-t430s']
<rtm.RTCmanager instance at 0x3b3e488> <rtm.RTcomponent instance at
0x3b3e680>
configuration ORB with localhost : 2809
['localhost', 'localhost', 'localhost', 'localhost']
<rtm.RTCmanager instance at 0x3b3e8c0> <rtm.RTcomponent instance at
0x3b3e7e8>
configuration ORB with 127.0.0.1 : 2809
['127.0.0.1', '127', 'localhost', 'localhost']
<rtm.RTCmanager instance at 0x3b3e950> <rtm.RTcomponent instance at
0x3b3e830>
configuration ORB with kokada-t430s : 2809
['kokada-t430s', 'kokada-t430s', 'kokada-t430s', 'kokada-t430s']
<rtm.RTCmanager instance at 0x3b3e3f8> <rtm.RTcomponent instance at
0x3b3e908>
configuration ORB with unknown : 2809
Traceback (most recent call last):
File "./test-hostname.py", line 22, in
test_initCORBA('unknown')
File "./test-hostname.py", line 14, in test_initCORBA
ms = rtm.findRTCmanager()
File
"/home/k-okada/catkin_ws/ws_hrpsys/devel/lib/python2.7/dist-packages/hrpsys/rtm.py",
line 337, in findRTCmanager
socket.gethostbyaddr(hostname)[0],
socket.gaierror: [Errno -2] Name or service not known

On Fri, Feb 14, 2014 at 2:23 PM, Isaac Isao Saito <
notifications@github.com> wrote:

Hope this issuehttp://code.google.com/p/hrpsys-base/issues/detail?id=173in
hrpsys-base will soon be addressed. I just needed [this patchhttps://github.com/start-jsk/rtmros_hironx/pull/3in another robot client.


Reply to this email directly or view it on GitHubhttps://github.com//issues/25#issuecomment-35056984
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commented Feb 18, 2014

The issue was when HrpsysConfigurator client (eg. Hironx, NextageClient) tries to connect to a real robot, hostname of the robot got overwritten with that of the machine where the client program runs on (this ticket does not clearly state what the exact problem was..).

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commented Feb 18, 2014

It seems that the module that gets called, is not the one that has the global variables set. So initCORBA is called with nshost and nsport set to "None".
If --ORBInitRef is not set, the hostname defaults to the environment the script is running on.

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