"wait for HrpsysSeqStateROSBridge0 : None" continues

[130s]

On a user's Ubuntu host, HrpsysSeqStateROSBridge0 can't be connected, both with their real robot and on simulation.

term-1$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl

term-2$ rostopic list|grep sensor
term-2$ 

$ rosversion nextage_ros_bridge
0.7.16
$ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch nameserver:=nextage MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
:
^[[0m[ INFO] [1495432036.430229043]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqSta\
teROSBridge0^[[0m
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so"\
 for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer\
.so" for
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L)
duplicated sensor Id is specified(id = 0, name = rhsensor)
duplicated sensor Id is specified(id = 1, name = lhsensor)
0 physical force sensor : rhsensor
1 physical force sensor : lhsensor
:
[ INFO] [1495434563.794082857]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
[WARN] [WallTime: 1495434563.800814] Could not found CollisionDetector(CollisionDetector0), waiting...
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   4 /30
[WARN] [WallTime: 1495434564.868632] Could not found CollisionDetector(CollisionDetector0), waiting...
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   4 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[WARN] [WallTime: 1495434565.954951] Could not found CollisionDetector(CollisionDetector0), waiting...
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   5 /30
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   5 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[WARN] [WallTime: 1495434567.041006] Could not found CollisionDetector(CollisionDetector0), waiting...
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   6 /30
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   6 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[WARN] [WallTime: 1495434568.131910] Could not found CollisionDetector(CollisionDetector0), waiting...
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   7 /30
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   7 /30
[WARN] [WallTime: 1495434569.229564] Could not found CollisionDetector(CollisionDetector0), waiting...
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[ERROR] [WallTime: 1495434570.231523] Could not found CollisionDetector, exiting...
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   8 /30
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   8 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[collision_state-18] process has finished cleanly
log file: /home/nxo/.ros/log/f9376922-3eb7-11e7-84f4-000bab77d7ad/collision_state-18*.log
[rtmlaunch] Wait for  /nextage:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   9 /30
[rtmlaunch] Wait for  /nextage:15005/CollisionDetector0.rtc:qCurrent   9 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
:

$ rosversion nextage_ros_bridge
0.7.16
$ rosversion hironx_ros_bridge
1.1.23

Downgrading `*_ros_bridge (source build) didn't help.

$ rosversion nextage_ros_bridge
0.7.14
$ rosversion hironx_ros_bridge
1.1.22

Having seeing duplicated sensor Id, updating the sensor id in main.wrl to use non-duplicate number then restarted QNX, which seems not working.

The same error message is seen on sim.

$ rosversion hironx_ros_bridge
1.1.23
$ rosversion nextage_ros_bridge
0.7.16

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch

Mon May 22 16:13:16 2017:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000074000000010102000f0000003139322e3136382e3132382e353000009d3a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000008c8f225901007811
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtconnect�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[31mWARNING: unrecognized tag rtactivate�[0m
�[34m[rtmlaunch] Start omniNames at port 15005 �[0m
... logging to /home/nxo/.ros/log/20b2f4ca-3ebe-11e7-a47c-000bab77d7ad/roslaunch-nxo-desktop-30731.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
�]2;/opt/ros/indigo/share/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch�
�[1mstarted roslaunch server http://nxo-desktop:48754/�[0m

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /collision_state/comp_name: CollisionDetector0
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /hand_left/ImageSensorROSBridge_HandLeft/frame_id: /CAMERA_HAND_L
 * /hand_right/ImageSensorROSBridge_HandRight/frame_id: /CAMERA_HAND_R
 * /left/ImageSensorROSBridge_HeadLeft/frame_id: /CAMERA_HEAD_L
 * /right/ImageSensorROSBridge_HeadRight/frame_id: /CAMERA_HEAD_R
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rtmnameserver_port: 15005
 * /rtmnameserver_robotname: HiroNX(Robot)0
 * /use_sim_time: True

NODES
  /left/
    ImageSensorROSBridge_HeadLeft (hrpsys_ros_bridge/ImageSensorROSBridge)
  /hand_left/
    ImageSensorROSBridge_HandLeft (hrpsys_ros_bridge/ImageSensorROSBridge)
  /right/
    ImageSensorROSBridge_HeadRight (hrpsys_ros_bridge/ImageSensorROSBridge)
  /
    CollisionDetectorComp (hrpsys/CollisionDetectorComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    collision_state (hrpsys_ros_bridge/collision_state.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys (hrpsys/hrpsys-simulator)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (nextage_ros_bridge/nextage.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rqt_hironxo (rqt_gui/rqt_gui)
    rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    rtmlaunch_nextage_ros_bridge_simulation (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
  /hand_right/
    ImageSensorROSBridge_HandRight (hrpsys_ros_bridge/ImageSensorROSBridge)

auto-starting new master
�[1mprocess[master]: started with pid [30746]�[0m
�[1mROS_MASTER_URI=http://localhost:11311�[0m
�]2;/opt/ros/indigo/share/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch http://localhost:11311�
�[1msetting /run_id to 20b2f4ca-3ebe-11e7-a47c-000bab77d7ad�[0m
�[1mprocess[rosout-1]: started with pid [30759]�[0m
started core service [/rosout]
�[1mprocess[modelloader-2]: started with pid [30783]�[0m
�[1mprocess[hrpsys-3]: startready
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[CollisionDetector0] onInitialize()
loading file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
loading file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
The model was successfully loaded ! 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
loading file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
The model was successfully loaded ! 
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
�[32m[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 �[0m
�[32m[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 �[0m
�[32m[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 �[0m
�[32m[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 �[0m
Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
[CollisionDetector0] prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
[CollisionDetector0] check collisions between RARM_JOINT2 and LARM_JOINT2
[CollisionDetector0] check collisions between RARM_JOINT3 and LARM_JOINT3
[CollisionDetector0] check collisions between RARM_JOINT4 and LARM_JOINT4
[CollisionDetector0] check collisions between RARM_JOINT5 and LARM_JOINT5
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[rtmlaunch] starting...  /opt/ros/indigo/share/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch
�[32m[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 �[0m
�[32m[rtmlaunch] SIMULATOR_NAME Simulator �[0m
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
[rtmlaunch] check connection/activation
�[31m[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:q , /localhost:15005/CollisionDetector0.rtc:qCurrent ):  'NoneType' object has no attribute 'connections' �[0m
[rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc
[CollisionDetector0] onActivated(0)
The model was successfully loaded ! 
loading file:///opt/ros/indigo/share/nextage_description/models/main.wrl
Humanoid node
Joint node WAIST
  Segment node WAIST
  Joint node CHEST_JOINT0
    Segment node CHEST_JOINT0_Link
    Joint node HEAD_JOINT0
      Segment node HEAD_JOINT0_Link
      Joint node HEAD_JOINT1
        Segment node HEAD_JOINT1_Link
        VisionSensorCAMERA_HEAD_R
        VisionSensorCAMERA_HEAD_L
    Joint node RARM_JOINT0
      Segment node RARM_JOINT0_Link
      Joint node RARM_JOINT1
        Segment node RARM_JOINT1_Link
        Joint node RARM_JOINT2
          Segment node RARM_JOINT2_Link
          Joint node RARM_JOINT3
            Segment node RARM_JOINT3_Link
            Joint node RARM_JOINT4
              Segment node RARM_JOINT4_Link
              Joint node RARM_JOINT5
                Segment node RARM_JOINT5_Link
                VisionSensorCAMERA_HAND_R
    Joint node LARM_JOINT0
      Segment node LARM_JOINT0_Link
      Joint node LARM_JOINT1
        Segment node LARM_JOINT1_Link
        Joint node LARM_JOINT2
          Segment node LARM_JOINT2_Link
          Joint node LARM_JOINT3
            Segment node LARM_JOINT3_Link
            Joint node LARM_JOINT4
              Segment node LARM_JOINT4_Link
              Joint node LARM_JOINT5
                Segment node LARM_JOINT5_Link
                VisionSensorCAMERA_HAND_L
Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0
Warning: Mass is zero. <Model>HiroNX <Link>WAIST
The model was successfully loaded ! 
cache found for file:///opt/ros/indigo/share/nextage_description/models/main.wrl
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
[sh] onInitialize()
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
[fk] onInitialize()
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[el] onInitialize()
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
[el] Do not load joint limit table
[ic] onInitialize()
cache found for file:///opt/ros/indigo/share/nextage_ros_bridge/models/nextage.dae
[ic] force sensor ports
[ic] End Effector [rarm]RARM_JOINT5 CHEST_JOINT0
[ic]   target = RARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [1.40361e-09, 7.01805e-10,           1]
    [          1, 1.40361e-09, 7.01805e-10]
    [7.01805e-10,           1, 1.40361e-09]
[ic] End Effector [larm]LARM_JOINT5 CHEST_JOINT0
[ic]   target = LARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [1.40361e-09, 7.01805e-10,           1]
    [          1, 1.40361e-09, 7.01805e-10]
    [7.01805e-10,           1, 1.40361e-09]
[ic] Add impedance params
[log] onInitialize()
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
�[93m[hrpsys.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code�[0m
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f7130a59fc8> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f7130a59fc8> isActive? = True 
[hrpsys.py] simulation_mode : True
[hrpsys.py]  Hrpsys controller version info: 
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7f712ef8b128>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7f712ef8b050>
[hrpsys.py]    version  =  315.12.1
[hrpsys.py]   bodyinfo URL = file:///opt/ros/indigo/share/nextage_description/models/main.wrl
[hrpsys.py] no hrpsys components found running. creating now
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7f7130a447e8> (315.12.1)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f7130b20710>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7f7130b3eab8> (315.12.1)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f712ef71680>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7f7130b20878> (315.12.1)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f7130aaa908>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f7130b20368> (315.12.1)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f7130a9d758>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f7130ad81b8> (315.12.1)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f7130a9de18>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f7130aaaf38> (315.12.1)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f7130ad8cf8>
[hrpsys.py] connecting hrpsys components
[rtm.py]    Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - HGcontroller0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1[fk] onActivated(1000)
[el] onActivated(1000)
SoftErrorLimiter is not working...
         m_qRef 0
     m_qCurrent 15
   m_servoState 15
[ic] onActivated(1000)
[log] Log max length is set to 4000
, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating hrpsys components
[hrpsys.py] setup hrpsys logger
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to HiroNX(Robot)0_q
[rtm.py]    Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to HiroNX(Robot)0_tau
[rtm.py]    Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_R to HiroNX(Robot)0_CAMERA_HEAD_R
[rtm.py] �[31m   Failed to connect HiroNX(Robot)0.CAMERA_HEAD_R to None([None])�[0m
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_L to HiroNX(Robot)0_CAMERA_HEAD_L
[rtm.py] �[31m   Failed to connect HiroNX(Robot)0.CAMERA_HEAD_L to None([None])�[0m
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HAND_R to HiroNX(Robot)0_CAMERA_HAND_R
[rtm.py] �[31m   Failed to connect HiroNX(Robot)0.CAMERA_HAND_R to None([None])�[0m
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HAND_L to HiroNX(Robot)0_CAMERA_HAND_L
[rtm.py] �[31m   Failed to connect HiroNX(Robot)0.CAMERA_HAND_L to None([None])�[0m
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=fl[log] Log cleared
[addJointGroup] group name = torso
[addJointGroup] group name = head
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
�[31m[ERROR] [1495437206.379206972]: Target Node visual1/node_joint0_axis0 NOT found!!!
�[0m
�[31m[ERROR] [1495437206.520155870]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?�[0m
[rtmlaunch] check connection/activation
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R
[rtmlaunch]             to localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   0 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage   0 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   1 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage   1 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   2 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage   2 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   3 /30�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage   3 /30�[0m
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil pseudo-object reference.
terminate called after throwing an instance of 'CORBA::INV_OBJREF'
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   4 /30�[0m
rtmlaunch.py: CORBA.BAD_PARAM(omniORB.BAD_PARAM_IndexOutOfRange, CORBA.COMPLETED_NO)
�[31m[SequencePlayerServiceROSBridge-13] process has died [pid 30811, exit code -6, cmd /opt/ros/indigo/lib/hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log __name:=SequencePlayerServiceROSBridge __log:=/home/nxo/.ros/log/20b2f4ca-3ebe-11e7-a47c-000bab77d7ad/SequencePlayerServiceROSBridge-13.log].
log file: /home/nxo/.ros/log/20b2f4ca-3ebe-11e7-a47c-000bab77d7ad/SequencePlayerServiceROSBridge-13*.log�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage   4 /30�[0m
rtmlaunch.py: CORBA.BAD_PARAM(omniORB.BAD_PARAM_IndexOutOfRange, CORBA.COMPLETED_NO)
Traceback (most recent call last):
  File "/opt/ros/indigo/share/openrtm_tools/scripts/rtmlaunch.py", line 13, in <module>
    rtmlaunch.main()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/openrtm_tools/rtmlaunch.py", line 253, in main
    tree.add_name_server(nameserver, [])
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rtctree/tree.py", line 131, in add_name_server
    self._parse_name_server(server, filter, dynamic=dynamic)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rtctree/tree.py", line 285, in _parse_name_server
    trim_filter(deepcopy(filter), 2), dynamic=dynamic)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rtctree/nameserver.py", line 54, in __init__
    self._parse_server(address, orb, filter)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rtctree/nameserver.py", line 78, in _parse_server
    root_context = self._connect_to_naming_service(address)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rtctree/nameserver.py", line 90, in _connect_to_naming_service
    root_context = self._ns_obj._narrow(CosNaming.NamingContext)
  File "/usr/lib/python2.7/dist-packages/omniORB/CORBA.py", line 798, in _narrow
    return _omnipy.narrow(self, repoId, 1)
omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)
�[33m[rtmlaunch] Catch signal 'SIGINT', exitting...�[0m
[CollisionDetector0] onDeactivated(0)
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
�[31mPluginHandler.save_settings() plugin "hironx_ros_bridge/HiroNXDashboard#1" raised an exception:
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 182, in save_settings
    self._save_settings(plugin_settings, instance_settings)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 109, in _save_settings
    self.emit_save_settings_completed()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 197, in emit_save_settings_completed
    callback(self._instance_id)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 426, in _close_application_save_callback
    self._close_application_shutdown_plugins()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 433, in _close_application_shutdown_plugins
    self._shutdown_plugin(info['instance_id'], self._close_application_shutdown_callback)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 321, in _shutdown_plugin
    handler.close_signal.disconnect(self.unload_plugin)
TypeError: disconnect() failed between 'close_signal' and 'unload_plugin'
�[0m
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
�[33m[rtmlaunch] Catch signal 'SIGINT', exitting...�[0m
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:15005
�[93m[sensor_ros_bridge_connect.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code�[0m
[sensor_ros_bridge_connect.py] wait for RTCmanager : nxo-desktop
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f0f75954248> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f0f75954248> isActive? = True 
[sensor_ros_bridge_connect.py] simulation_mode : True
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
Traceback (most recent call last):
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 60, in <module>
    initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4], sys.argv[5], sys.argv[6], sys.argv[7])
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 44, in initSensorRosBridgeConnection
    time.sleep(1);
KeyboardInterrupt
terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST'
configuration ORB with localhost:15005
[INFO] [WallTime: 1495437204.171341] [0.000000]   bodyinfo URL = file:///opt/ros/indigo/share/nextage_description/models/main.wrl
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
[WARN] [WallTime: 1495437215.796352] [0.000000] Moveit is not started yet, if you want to use MoveIt!
Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)
omniORB: ERROR -- the application attempted to invoke an operation
 on a nil pseudo-object reference.
terminate called after throwing an instance of 'CORBA::INV_OBJREF'
�[33m[ WARN] [1495437222.409870627]: [HrpsysSeqStateROSBridge] use_hrpsys_time�[0m
�[0m[ INFO] [1495437227.485495871]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0�[0m
�[31m[rqt_hironxo-20] escalating to SIGTERM�[0m
ed with pid [30786]�[0m
�[1mprocess[hrpsys_py-4]: started with pid [30787]�[0m
�[1mprocess[HrpsysSeqStateROSBridge-5]: started with pid [30788]�[0m
�[1mprocess[HrpsysJointTrajectoryBridge-6]: started with pid [30789]�[0m
�[1mprocess[hrpsys_state_publisher-7]: started with pid [30790]�[0m
�[1mprocess[hrpsys_ros_diagnostics-8]: started with pid [30797]�[0m
�[1mprocess[diagnostic_aggregator-9]: started with pid [30803]�[0m
�[1mprocess[hrpsys_profile-10]: started with pid [30804]�[0m
�[1mprocess[sensor_ros_bridge_connect-11]: started with pid [30809]�[0m
�[1mprocess[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [30810]�[0m
�[1mprocess[SequencePlayerServiceROSBridge-13]: started with pid [30811]�[0m
�[1mprocess[DataLoggerServiceROSBridge-14]: started with pid [30816]�[0m
�[1mprocess[ForwardKinematicsServiceROSBridge-15]: started with pid [30824]�[0m
�[1mprocess[StateHolderServiceROSBridge-16]: started with pid [30834]�[0m
�[1mprocess[CollisionDetectorComp-17]: started with pid [30841]�[0m
�[1mprocess[rtmlaunch_collision_detector-18]: started with pid [30845]�[0m
�[1mprocess[collision_state-19]: started with pid [30857]�[0m
�[1mprocess[rqt_hironxo-20]: started with pid [30861]�[0m
�[1mprocess[rtmlaunch_nextage_ros_bridge_simulation-21]: started with pid [30882]�[0m
�[1mprocess[right/ImageSensorROSBridge_HeadRight-22]: started with pid [30894]�[0m
�[1mprocess[left/ImageSensorROSBridge_HeadLeft-23]: started with pid [30901]�[0m
�[1mprocess[hand_right/ImageSensorROSBridge_HandRight-24]: started with pid [30913]�[0m
�[1mprocess[hand_left/ImageSensorROSBridge_HandLeft-25]: started with pid [30922]�[0m
[hand_left/ImageSensorROSBridge_HandLeft-25] killing on exit
[hand_right/ImageSensorROSBridge_HandRight-24] killing on exit
[left/ImageSensorROSBridge_HeadLeft-23] killing on exit
[right/ImageSensorROSBridge_HeadRight-22] killing on exit
[rtmlaunch_nextage_ros_bridge_simulation-21] killing on exit
[rqt_hironxo-20] killing on exit
[collision_state-19] killing on exit
[rtmlaunch_collision_detector-18] killing on exit
[CollisionDetectorComp-17] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[ForwardKinematicsServiceROSBridge-15] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
[rtmlaunch_hrpsys_ros_bridge-12] killing on exit
[sensor_ros_bridge_connect-11] killing on exit
[hrpsys_profile-10] killing on exit
[diagnostic_aggregator-9] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[hrpsys_state_publisher-7] killing on exit
[HrpsysJointTrajectoryBridge-6] killing on exit
[HrpsysSeqStateROSBridge-5] killing on exit
[hrpsys_py-4] killing on exit
[hrpsys-3] killing on exit
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
�[1mdone�[0m
�[34m[rtmlaunch] terminate omniNames at port 15005 �[0m

Reinstalling some DEB files didn't help.

$ sudo apt-get purge ros-indigo-rtmros-hironx ros-indigo-rtmros-nextage
$ sudo apt-get autoremove
$ sudo apt-get install ros-indigo-rtmros-hironx ros-indigo-rtmros-nextage

[130s]

Btw, with a commit in the pull request #305 I can reproduce the issue on the simulator on my computer.

term-1$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch USE_IMPEDANCE:=true
[rtmlaunch] Start omniNames at port 15005

Mon May 22 22:22:20 2017:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e302e313800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000000cc7235901007253
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/rosnoodle/.ros/log/cb7c51b2-3f77-11e7-9aad-80fa5b08d1d8/roslaunch-tork-kudu1-29261.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:43816/

SUMMARY
========

PARAMETERS
 * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True
 * /collision_state/comp_name: CollisionDetector0
 * /controller_configuration: [{'group_name': '...
 * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...
 * /diagnostic_aggregator/analyzers/computers/path: Computers
 * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...
 * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys
 * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']
 * /diagnostic_aggregator/analyzers/motor/path: Motor
 * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path:
 * /diagnostic_aggregator/pub_rate: 1.0
 * /hand_left/ImageSensorROSBridge_HandLeft/frame_id: /CAMERA_HAND_L
 * /hand_right/ImageSensorROSBridge_HandRight/frame_id: /CAMERA_HAND_R
 * /left/ImageSensorROSBridge_HeadLeft/frame_id: /CAMERA_HEAD_L
 * /right/ImageSensorROSBridge_HeadRight/frame_id: /CAMERA_HEAD_R
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rtmnameserver_port: 15005
 * /rtmnameserver_robotname: HiroNX(Robot)0
 * /use_sim_time: True

NODES
  /left/
    ImageSensorROSBridge_HeadLeft (hrpsys_ros_bridge/ImageSensorROSBridge)
  /hand_left/
    ImageSensorROSBridge_HandLeft (hrpsys_ros_bridge/ImageSensorROSBridge)
  /right/
    ImageSensorROSBridge_HeadRight (hrpsys_ros_bridge/ImageSensorROSBridge)
  /
    CollisionDetectorComp (hrpsys/CollisionDetectorComp)
    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
    ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp)
    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)
    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
    collision_state (hrpsys_ros_bridge/collision_state.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    hrpsys (hrpsys/hrpsys-simulator)
    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
    hrpsys_py (nextage_ros_bridge/nextage.py)
    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
    hrpsys_state_publisher (robot_state_publisher/state_publisher)
    modelloader (openhrp3/openhrp-model-loader)
    rqt_hironxo (rqt_gui/rqt_gui)
    rtmlaunch_collision_detector (openrtm_tools/rtmlaunch.py)
    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
    rtmlaunch_nextage_ros_bridge_simulation (openrtm_tools/rtmlaunch.py)
    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
  /hand_right/
    ImageSensorROSBridge_HandRight (hrpsys_ros_bridge/ImageSensorROSBridge)

WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtconnect
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
WARNING: unrecognized tag rtactivate
auto-starting new master
process[master]: started with pid [29276]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cb7c51b2-3f77-11e7-9aad-80fa5b08d1d8
process[rosout-1]: started with pid [29289]
started core service [/rosout]
process[modelloader-2]: started with pid [29313]
process[hrpsys-3]: started with pid [29314]
process[hrpsys_py-4]: started with pid [29315]
ready
process[HrpsysSeqStateROSBridge-5]: started with pid [29320]
process[HrpsysJointTrajectoryBridge-6]: started with pid [29321]
process[hrpsys_state_publisher-7]: started with pid [29322]
process[hrpsys_ros_diagnostics-8]: started with pid [29323]
process[diagnostic_aggregator-9]: started with pid [29324]
process[hrpsys_profile-10]: started with pid [29336]
process[sensor_ros_bridge_connect-11]: started with pid [29369]
process[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [29387]
process[SequencePlayerServiceROSBridge-13]: started with pid [29408]
process[DataLoggerServiceROSBridge-14]: started with pid [29416]
process[ForwardKinematicsServiceROSBridge-15]: started with pid [29420]
process[StateHolderServiceROSBridge-16]: started with pid [29439]
loading /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
process[ImpedanceControllerServiceROSBridge-17]: started with pid [29479]
loading file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
The model was successfully loaded !
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for
loading file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

process[RemoveForceSensorLinkOffsetServiceROSBridge-18]: started with pid [29502]
Humanoid node
Joint node WAIST
  Segment node WAIST
  Joint node CHEST_JOINT0
    Segment node CHEST_JOINT0_Link
    Joint node HEAD_JOINT0
      Segment node HEAD_JOINT0_Link
      Joint node HEAD_JOINT1
        Segment node HEAD_JOINT1_Link
        VisionSensorCAMERA_HEAD_R
        VisionSensorCAMERA_HEAD_L
    Joint node RARM_JOINT0
      Segment node RARM_JOINT0_Link
      Joint node RARM_JOINT1
        Segment node RARM_JOINT1_Link
        Joint node RARM_JOINT2
          Segment node RARM_JOINT2_Link
          Joint node RARM_JOINT3
            Segment node RARM_JOINT3_Link
            Joint node RARM_JOINT4
              Segment node RARM_JOINT4_Link
              Joint node RARM_JOINT5
                Segment node RARM_JOINT5_Link
                  ForceSensorrhsensor
                VisionSensorCAMERA_HAND_R
    Joint node LARM_JOINT0
      Segment node LARM_JOINT0_Link
      Joint node LARM_JOINT1
        Segment node LARM_JOINT1_Link
        Joint node LARM_JOINT2
          Segment node LARM_JOINT2_Link
          Joint node LARM_JOINT3
            Segment node LARM_JOINT3_Link
            Joint node LARM_JOINT4
              Segment node LARM_JOINT4_Link
              Joint node LARM_JOINT5
                Segment node LARM_JOINT5_Link
                  ForceSensorlhsensor
                VisionSensorCAMERA_HAND_L
process[CollisionDetectorComp-19]: started with pid [29540]
process[rtmlaunch_collision_detector-20]: started with pid [29563]
Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
process[collision_state-21]: started with pid [29568]
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0
process[rqt_hironxo-22]: started with pid [29583]
Warning: Mass is zero. <Model>HiroNX <Link>WAIST
process[rtmlaunch_nextage_ros_bridge_simulation-23]: started with pid [29593]
[ERROR] [1495516941.970184842]: Target Node visual1/node_joint0_axis0 NOT found!!!

;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[CollisionDetector0] onInitialize()
process[right/ImageSensorROSBridge_HeadRight-24]: started with pid [29600]
loading file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
The model was successfully loaded !
process[left/ImageSensorROSBridge_HeadLeft-25]: started with pid [29607]
Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for
cache found for /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L)
duplicated sensor Id is specified(id = 5, name = rhsensor)
duplicated sensor Id is specified(id = 2, name = CAMERA_HAND_R)
duplicated sensor Id is specified(id = 4, name = lhsensor)
duplicated sensor Id is specified(id = 3, name = CAMERA_HAND_L)
[ INFO] [1495516942.044619909]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
process[hand_right/ImageSensorROSBridge_HandRight-26]: started with pid [29618]
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
[sensor_ros_bridge_connect.py]  start
configuration ORB with localhost:15005
[sensor_ros_bridge_connect.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
process[hand_left/ImageSensorROSBridge_HandLeft-27]: started with pid [29636]
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

The model was successfully loaded !
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
[rtmlaunch] check connection/activation
The model was successfully loaded !
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   0 /30
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for
[CollisionDetector0] prop[collision_pair] ->RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
[CollisionDetector0] check collisions between RARM_JOINT2 and LARM_JOINT2
[CollisionDetector0] check collisions between RARM_JOINT3 and LARM_JOINT3
[CollisionDetector0] check collisions between RARM_JOINT4 and LARM_JOINT4
[CollisionDetector0] check collisions between RARM_JOINT5 and LARM_JOINT5
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/collision_detector.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
[rtmlaunch] starting...  /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch
[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005
[rtmlaunch] SIMULATOR_NAME Simulator
[rtmlaunch] check connection/activation
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch]             to localhost:15005/CollisionDetector0.rtc:qCurrent
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:q
[rtmlaunch]             to localhost:15005/CollisionDetector0.rtc:qRef
[rtmlaunch]           with {'id': '', 'properties': {'dataport.publisher.push_policy': 'all', 'dataport.subscription_type': 'new'}, 'name': None, 'verbose': False}
[rtmlaunch] check connection/activation[rtmlaunch] Activate <- Inactive /localhost:15005/CollisionDetector0.rtc

[CollisionDetector0] onActivated(0)
[CollisionDetector0] [0.605000] set safe posture
configuration ORB with localhost:15005
[INFO] [WallTime: 1495516942.918490] [0.000000]   bodyinfo URL = file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
loading file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
Humanoid node
Joint node WAIST
  Segment node WAIST
  Joint node CHEST_JOINT0
    Segment node CHEST_JOINT0_Link
    Joint node HEAD_JOINT0
      Segment node HEAD_JOINT0_Link
      Joint node HEAD_JOINT1
        Segment node HEAD_JOINT1_Link
        VisionSensorCAMERA_HEAD_R
        VisionSensorCAMERA_HEAD_L
    Joint node RARM_JOINT0
      Segment node RARM_JOINT0_Link
      Joint node RARM_JOINT1
        Segment node RARM_JOINT1_Link
        Joint node RARM_JOINT2
          Segment node RARM_JOINT2_Link
          Joint node RARM_JOINT3
            Segment node RARM_JOINT3_Link
            Joint node RARM_JOINT4
              Segment node RARM_JOINT4_Link
              Joint node RARM_JOINT5
                Segment node RARM_JOINT5_Link
                  ForceSensorrhsensor
                VisionSensorCAMERA_HAND_R
    Joint node LARM_JOINT0
      Segment node LARM_JOINT0_Link
      Joint node LARM_JOINT1
        Segment node LARM_JOINT1_Link
        Joint node LARM_JOINT2
          Segment node LARM_JOINT2_Link
          Joint node LARM_JOINT3
            Segment node LARM_JOINT3_Link
            Joint node LARM_JOINT4
              Segment node LARM_JOINT4_Link
              Joint node LARM_JOINT5
                Segment node LARM_JOINT5_Link
                  ForceSensorlhsensor
                VisionSensorCAMERA_HAND_L
Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0
Warning: Mass is zero. <Model>HiroNX <Link>WAIST
The model was successfully loaded !
[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage   0 /30
[sensor_ros_bridge_connect.py] wait for RTCmanager : tork-kudu1
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f38ab1ef878> ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f38ab1ef878> isActive? = True
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[sensor_ros_bridge_connect.py] simulation_mode : True
[ WARN] [1495516943.330333953]: [HrpsysSeqStateROSBridge] use_hrpsys_time
[ INFO] [1495516943.367922297]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
cache found for /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for
cache found for /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl
duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R)
duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L)
duplicated sensor Id is specified(id = 5, name = rhsensor)
duplicated sensor Id is specified(id = 2, name = CAMERA_HAND_R)
duplicated sensor Id is specified(id = 4, name = lhsensor)
duplicated sensor Id is specified(id = 3, name = CAMERA_HAND_L)
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   1 /30
[HrpsysSeqStateROSBridge-5] process has died [pid 29320, exit code -11, cmd /opt/ros/indigo/lib/hrpsys_ros_bridge/HrpsysSeqStateROSBridge -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.type:PeriodicExecutionContext -o exec_cxt.periodic.rate:2000 -o logger.file_name:/tmp/rtc%p.log -o model:/home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main_ftsensor.wrl -o example.HrpsysSeqStateROSBridge.config_file: __name:=HrpsysSeqStateROSBridge __log:=/home/rosnoodle/.ros/log/cb7c51b2-3f77-11e7-9aad-80fa5b08d1d8/HrpsysSeqStateROSBridge-5.log].
log file: /home/rosnoodle/.ros/log/cb7c51b2-3f77-11e7-9aad-80fa5b08d1d8/HrpsysSeqStateROSBridge-5*.log
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fd9a6df1ab8> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fd9a6df1ab8> isActive? = True
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage   1 /30
[hrpsys.py] simulation_mode : True
[hrpsys.py]  Hrpsys controller version info:
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7fd9a852c1b8>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7fd9a852c0e0>
[hrpsys.py]    version  =  315.12.1
[hrpsys.py]   bodyinfo URL = file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
loading file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

Collada Warning: fill asset info
Collada Warning: Target Node 'visual1/node_joint0_axis0' not found
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: joint HEAD_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint HEAD_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint RARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint RARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint RARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT5 has axis: 1.000000 0.000000 0.000000
Collada Warning: joint LARM_JOINT4 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT3 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint LARM_JOINT2 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT1 has axis: 0.000000 1.000000 0.000000
Collada Warning: joint LARM_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: joint CHEST_JOINT0 has axis: 0.000000 0.000000 1.000000
Collada Warning: cannot find instance_actuator for attached sensor HiroNX:WAIST
The model was successfully loaded !
[hrpsys.py] no hrpsys components found running. creating now
[hrpsys.py]   eval : [self.seq, self.seq_svc, self.seq_version] = self.createComp("SequencePlayer","seq")
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[hrpsys.py] create Comp -> SequencePlayer : <hrpsys.rtm.RTcomponent instance at 0x7fd9bfd88ea8> (315.12.1)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7fd9a8473638>
[hrpsys.py]   eval : [self.sh, self.sh_svc, self.sh_version] = self.createComp("StateHolder","sh")
[sh] onInitialize()
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[hrpsys.py] create Comp -> StateHolder : <hrpsys.rtm.RTcomponent instance at 0x7fd9a8549ef0> (315.12.1)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7fd9a854f5f0>
[hrpsys.py]   eval : [self.fk, self.fk_svc, self.fk_version] = self.createComp("ForwardKinematics","fk")
[fk] onInitialize()
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[hrpsys.py] create Comp -> ForwardKinematics : <hrpsys.rtm.RTcomponent instance at 0x7fd9a6df5128> (315.12.1)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7fd9a848c290>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[el] onInitialize()
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[el] Do not load joint limit table
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7fd9a84836c8> (315.12.1)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fd9a848d128>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
[ic] onInitialize()
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[ic] force sensor ports
[ic] End Effector [rarm]RARM_JOINT5 CHEST_JOINT0
[ic]   target = RARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [1.40361e-09, 7.01805e-10,           1]
    [          1, 1.40361e-09, 7.01805e-10]
    [7.01805e-10,           1, 1.40361e-09]
[ic] End Effector [larm]LARM_JOINT5 CHEST_JOINT0
[ic]   target = LARM_JOINT5, base = CHEST_JOINT0
[ic]   localPos =     [0,  0,  0][m]
[ic]   localR =     [1.40361e-09, 7.01805e-10,           1]
    [          1, 1.40361e-09, 7.01805e-10]
    [7.01805e-10,           1, 1.40361e-09]
[ic] Add impedance params
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7fd9a8518680> (315.12.1)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7fd9a848d5a8>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
[log] onInitialize()
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7fd9a848c758> (315.12.1)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7fd9a8473998>
[hrpsys.py] connecting hrpsys components
[rtm.py]    Connect sh.qOut - ic.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect ic.q - el.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect el.q - HGcontroller0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HGcontroller0.qOut - HiroNX(Robot)0.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   2 /30
[rtm.py]    Connect HiroNX(Robot)0.servoState - el.servoStateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - sh.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - fk.q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - fk.qRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.qRef - sh.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.tqRef - sh.tqIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.basePos - sh.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.baseRpy - sh.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.zmpRef - sh.zmpIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect seq.optionalData - sh.optionalDataIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - seq.basePosInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - fk.basePosRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - seq.baseRpyInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - fk.baseRpyRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.qOut - seq.qInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.zmpOut - seq.zmpRefInit (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - ic.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.basePosOut - ic.basePosIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sh.baseRpyOut - ic.baseRpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect HiroNX(Robot)0.q - el.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] activating hrpsys components
[fk] onActivated(1000)
[el] onActivated(1000)
SoftErrorLimiter is not working...
         m_qRef 0
     m_qCurrent 15
   m_servoState 15
[ic] onActivated(1000)
[hrpsys.py] setup hrpsys logger
[log] Log max length is set to 4000
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to HiroNX(Robot)0_q
[rtm.py]    Connect HiroNX(Robot)0.q - log.HiroNX(Robot)0_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tau to HiroNX(Robot)0_tau
[rtm.py]    Connect HiroNX(Robot)0.tau - log.HiroNX(Robot)0_tau (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_R to HiroNX(Robot)0_CAMERA_HEAD_R
[rtm.py]    Failed to connect HiroNX(Robot)0.CAMERA_HEAD_R to None([None])
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HEAD_L to HiroNX(Robot)0_CAMERA_HEAD_L
[rtm.py]    Failed to connect HiroNX(Robot)0.CAMERA_HEAD_L to None([None])
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HAND_R to HiroNX(Robot)0_CAMERA_HAND_R
[rtm.py]    Failed to connect HiroNX(Robot)0.CAMERA_HAND_R to None([None])
[hrpsys.py]   setupLogger : record type = TimedCameraImage, name = CAMERA_HAND_L to HiroNX(Robot)0_CAMERA_HAND_L
[rtm.py]    Failed to connect HiroNX(Robot)0.CAMERA_HAND_L to None([None])
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = qOut to sh_qOut
[rtm.py]    Connect sh.qOut - log.sh_qOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = tqOut to sh_tqOut
[rtm.py]    Connect sh.tqOut - log.sh_tqOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = basePosOut to sh_basePosOut
[rtm.py]    Connect sh.basePosOut - log.sh_basePosOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedOrientation3D, name = baseRpyOut to sh_baseRpyOut
[rtm.py]    Connect sh.baseRpyOut - log.sh_baseRpyOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedPoint3D, name = zmpOut to sh_zmpOut
[INFO] [WallTime: 1495516944.997293] [0.000000] Connecting to RTM nameserver. host=localhost, port=15005, robotname=HiroNX(Robot)0
configuration ORB with localhost:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[rtm.py]    Connect sh.zmpOut - log.sh_zmpOut (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to ic_q
[rtm.py]    Connect ic.q - log.ic_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedDoubleSeq, name = q to el_q
[rtm.py]    Connect el.q - log.el_q (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]    Connect HiroNX(Robot)0.emergencySignal - log.emergencySignal (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[hrpsys.py]   setupLogger : record type = TimedLongSeqSeq, name = servoState to HiroNX(Robot)0_servoState
[rtm.py]    Connect HiroNX(Robot)0.servoState - log.HiroNX(Robot)0_servoState (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[log] Log cleared
[hrpsys.py] setup joint groups for hrpsys controller
[addJointGroup] group name = torso
[addJointGroup] group name = head
[addJointGroup] group name = rarm
[addJointGroup] group name = larm
[hrpsys.py] initialized successfully
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage   2 /30
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R
[rtmlaunch]             to localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_L
[rtmlaunch]             to localhost:15005/ImageSensorROSBridge_HeadLeft.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_R
[rtmlaunch]             to localhost:15005/ImageSensorROSBridge_HandRight.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Connected from localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HAND_L
[rtmlaunch]             to localhost:15005/ImageSensorROSBridge_HandLeft.rtc:timedImage
[rtmlaunch]           with {'id': '', 'properties': {'dataport.subscription_type': 'flush'}, 'name': None, 'verbose': False}
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HeadRight.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HeadLeft.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HandRight.rtc
[rtmlaunch] Activate <- Inactive /localhost:15005/ImageSensorROSBridge_HandLeft.rtc
[ WARN] [1495516945.313384049]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


[ERROR] [1495516945.402019889]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1495516945.409341757]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1495516945.413402487]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1495516945.530021714]: could not find openrave joint WAIST!

[ERROR] [1495516945.540412075]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1495516945.540510828]: Loading robot model 'HiroNX'...
[ INFO] [1495516945.540545757]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   3 /30
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f5775ed4638> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f5775ed4638> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py]  Hrpsys controller version info:
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7f5775ed4440>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7f5775ed47a0>
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[hrpsys.py]    version  =  315.12.1
[hrpsys.py] no hrpsys components found running. creating now
[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 0x7f5775ec1290> (315.12.1)
[hrpsys.py] create CompSvc -> SequencePlayer Service : <OpenHRP._objref_SequencePlayerService instance at 0x7f5775f0aa28>
[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 0x7f5775fab290> (315.12.1)
[hrpsys.py] create CompSvc -> StateHolder Service : <OpenHRP._objref_StateHolderService instance at 0x7f5774e152d8>
[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 0x7f5775fac5a8> (315.12.1)
[hrpsys.py] create CompSvc -> ForwardKinematics Service : <OpenHRP._objref_ForwardKinematicsService instance at 0x7f5775edac20>
[hrpsys.py]   eval : [self.ic, self.ic_svc, self.ic_version] = self.createComp("ImpedanceController","ic")
RTC named "ic" already exists.
[hrpsys.py] create Comp -> ImpedanceController : <hrpsys.rtm.RTcomponent instance at 0x7f5775ebc830> (315.12.1)
[hrpsys.py] create CompSvc -> ImpedanceController Service : <OpenHRP._objref_ImpedanceControllerService instance at 0x7f577548d248>
[hrpsys.py]   eval : [self.el, self.el_svc, self.el_version] = self.createComp("SoftErrorLimiter","el")
RTC named "el" already exists.
[hrpsys.py] create Comp -> SoftErrorLimiter : <hrpsys.rtm.RTcomponent instance at 0x7f5774dfc950> (315.12.1)
[hrpsys.py] create CompSvc -> SoftErrorLimiter Service : <OpenHRP._objref_SoftErrorLimiterService instance at 0x7f577548dea8>
[hrpsys.py]   eval : [self.sc, self.sc_svc, self.sc_version] = self.createComp("ServoController","sc")
[WARNING] sc: needs servo.devname property
[WARNING] sc: running in dummy mode
[hrpsys.py] create Comp -> ServoController : <hrpsys.rtm.RTcomponent instance at 0x7f5776024290> (315.12.1)
[hrpsys.py] create CompSvc -> ServoController Service : <OpenHRP._objref_ServoControllerService instance at 0x7f5774e02cb0>
[hrpsys.py]   eval : [self.log, self.log_svc, self.log_version] = self.createComp("DataLogger","log")
RTC named "log" already exists.
[hrpsys.py] create Comp -> DataLogger : <hrpsys.rtm.RTcomponent instance at 0x7f577547ecb0> (315.12.1)
[hrpsys.py] create CompSvc -> DataLogger Service : <OpenHRP._objref_DataLoggerService instance at 0x7f5775488878>
[hrpsys.py]   eval : [self.rmfo, self.rmfo_svc, self.rmfo_version] = self.createComp("RemoveForceSensorLinkOffset","rmfo")
[rmfo] onInitialize()
cache found for file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[hrpsys.py] create Comp -> RemoveForceSensorLinkOffset : <hrpsys.rtm.RTcomponent instance at 0x7f5774dbd290> (315.12.1)
[hrpsys.py] create CompSvc -> RemoveForceSensorLinkOffset Service : <OpenHRP._objref_RemoveForceSensorLinkOffsetService instance at 0x7f5774e023f8>
[hrpsys.py] connecting hrpsys components
[rtm.py]      sh.qOut and ic.qRef are already connected
[rtm.py]      ic.q and el.qRef are already connected
[rtm.py]      el.q and HGcontroller0.qIn are already connected
[rtm.py]      HGcontroller0.qOut and HiroNX(Robot)0.qRef are already connected
[rtm.py]      HiroNX(Robot)0.servoState and el.servoStateIn are already connected
[rtm.py]      HiroNX(Robot)0.q and sh.currentQIn are already connected
[rtm.py]      HiroNX(Robot)0.q and fk.q are already connected
[rtm.py]      sh.qOut and fk.qRef are already connected
[rtm.py]      seq.qRef and sh.qIn are already connected
[rtm.py]      seq.tqRef and sh.tqIn are already connected
[rtm.py]      seq.basePos and sh.basePosIn are already connected
[rtm.py]      seq.baseRpy and sh.baseRpyIn are already connected
[rtm.py]      seq.zmpRef and sh.zmpIn are already connected
[rtm.py]      seq.optionalData and sh.optionalDataIn are already connected
[rtm.py]      sh.basePosOut and seq.basePosInit are already connected
[rtm.py]      sh.basePosOut and fk.basePosRef are already connected
[rtm.py]      sh.baseRpyOut and seq.baseRpyInit are already connected
[rtm.py]      sh.baseRpyOut and fk.baseRpyRef are already connected
[rtm.py]      sh.qOut and seq.qInit are already connected
[rtm.py]      sh.zmpOut and seq.zmpRefInit are already connected
[rtm.py]    Connect HiroNX(Robot)0.q - rmfo.qCurrent (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]      HiroNX(Robot)0.q and ic.qCurrent are already connected
[rtm.py]      sh.basePosOut and ic.basePosIn are already connected
[rtm.py]      sh.baseRpyOut and ic.baseRpyIn are already connected
[rtm.py]      HiroNX(Robot)0.q and el.qCurrent are already connected
[hrpsys.py] activating hrpsys components
seqis already serialized
shis already serialized
fkis already serialized
icis already serialized
elis already serialized
logis already serialized
[fk] onActivated(1000)
[ic] onActivated(1000)
[el] onActivated(1000)
[rmfo] onActivated(1000)
[hrpsys.py] setup hrpsys logger
[log] Log max length is set to 4000
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]      HiroNX(Robot)0.q and log.HiroNX(Robot)0_q are already connected
[hrpsys.py]   setupLogger : tau arleady exists in DataLogger
[rtm.py]      HiroNX(Robot)0.tau and log.HiroNX(Robot)0_tau are already connected
[hrpsys.py] sensor names for DataLogger
[hrpsys.py]   setupLogger : qOut arleady exists in DataLogger
[rtm.py]      sh.qOut and log.sh_qOut are already connected
[hrpsys.py]   setupLogger : tqOut arleady exists in DataLogger
[rtm.py]      sh.tqOut and log.sh_tqOut are already connected
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   4 /30
[hrpsys.py]   setupLogger : basePosOut arleady exists in DataLogger
[rtm.py]      sh.basePosOut and log.sh_basePosOut are already connected
[hrpsys.py]   setupLogger : baseRpyOut arleady exists in DataLogger
[rtm.py]      sh.baseRpyOut and log.sh_baseRpyOut are already connected
[hrpsys.py]   setupLogger : zmpOut arleady exists in DataLogger
[rtm.py]      sh.zmpOut and log.sh_zmpOut are already connected
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]      ic.q and log.ic_q are already connected
[hrpsys.py]   setupLogger : q arleady exists in DataLogger
[rtm.py]      el.q and log.el_q are already connected
[hrpsys.py]   setupLogger : emergencySignal arleady exists in DataLogger
[rtm.py]      HiroNX(Robot)0.emergencySignal and log.emergencySignal are already connected
[hrpsys.py]   setupLogger : servoState arleady exists in DataLogger
[rtm.py]      HiroNX(Robot)0.servoState and log.HiroNX(Robot)0_servoState are already connected
[log] Log cleared
[hrpsys.py] setup joint groups for hrpsys controller
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[hrpsys.py] initialized successfully
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   5 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   6 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   7 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   8 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   9 /30
[rtmlaunch] check connection/activation
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   10 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   11 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   12 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   13 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   14 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   15 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[addJointGroup] group name = torso
[addJointGroup] group name TORSO is already installed
[addJointGroup] group name = head
[addJointGroup] group name HEAD is already installed
[addJointGroup] group name = rarm
[addJointGroup] group name RARM is already installed
[addJointGroup] group name = larm
[addJointGroup] group name LARM is already installed
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   16 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   17 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   18 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   19 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   20 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] check connection/activation
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   21 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   22 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   23 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   24 /30
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle   25 /30
^C[hand_left/ImageSensorROSBridge_HandLeft-27] killing on exit
[hand_right/ImageSensorROSBridge_HandRight-26] killing on exit
[left/ImageSensorROSBridge_HeadLeft-25] killing on exit
[right/ImageSensorROSBridge_HeadRight-24] killing on exit
[rtmlaunch_nextage_ros_bridge_simulation-23] killing on exit
[rqt_hironxo-22] killing on exit
[collision_state-21] killing on exit
[CollisionDetectorComp-19] killing on exit
[rtmlaunch_collision_detector-20] killing on exit
[RemoveForceSensorLinkOffsetServiceROSBridge-18] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[rtmlaunch] Catch signal 'SIGINT', exitting...
[CollisionDetector0] onDeactivated(0)
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[ImpedanceControllerServiceROSBridge-17] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[StateHolderServiceROSBridge-16] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[sensor_ros_bridge_connect.py]   wait for  HrpsysSeqStateROSBridge0  :  None
[ForwardKinematicsServiceROSBridge-15] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
[SequencePlayerServiceROSBridge-13] killing on exit
[rtmlaunch_hrpsys_ros_bridge-12] killing on exit
[sensor_ros_bridge_connect-11] killing on exit
[rtmlaunch] Catch signal 'SIGINT', exitting...
[hrpsys_profile-10] killing on exit
Traceback (most recent call last):
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 60, in <module>
    initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4], sys.argv[5], sys.argv[6], sys.argv[7])
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py", line 44, in initSensorRosBridgeConnection
    time.sleep(1);
KeyboardInterrupt
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[diagnostic_aggregator-9] killing on exit
[hrpsys_ros_diagnostics-8] killing on exit
[hrpsys_state_publisher-7] killing on exit
[HrpsysJointTrajectoryBridge-6] killing on exit
[hrpsys_py-4] killing on exit
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[hrpsys-3] killing on exit
terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST'
[modelloader-2] killing on exit
[INFO] [WallTime: 1495516971.555883] [0.000000] Joint names; Torso: ['CHEST_JOINT0']
        Head: ['HEAD_JOINT0', 'HEAD_JOINT1']
        L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
        R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
[WARN] [WallTime: 1495516971.557329] [0.000000] Moveit is not started yet, if you want to use MoveIt!
Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

term-2$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py
Python 2.7.6 (default, Oct 26 2016, 20:30:19)
Type "copyright", "credits" or "license" for more information.

IPython 1.2.1 -- 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 tork-kudu1:15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fd22480ebd8> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fd22480ebd8> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py]  Hrpsys controller version info:
[hrpsys.py]    ms =  <hrpsys.rtm.RTCmanager instance at 0x7fd22480ea70>
[hrpsys.py]    ref =  <RTM._objref_Manager instance at 0x7fd22480e710>
[hrpsys.py]    version  =  315.12.1
[hrpsys.py] hrpsys components are already created and running
[hrpsys.py] [self.seq, self.seq_svc, self.seq_version] = self.findComp("SequencePlayer","seq",0,True)
[hrpsys.py]  find Comp    : seq = <hrpsys.rtm.RTcomponent instance at 0x7fd2247d47a0> (315.12.1)
[hrpsys.py]  find CompSvc : seq_svc = <OpenHRP._objref_SequencePlayerService instance at 0x7fd223f6d9e0>
[hrpsys.py] [self.sh, self.sh_svc, self.sh_version] = self.findComp("StateHolder","sh",0,True)
[hrpsys.py]  find Comp    : sh = <hrpsys.rtm.RTcomponent instance at 0x7fd224801998> (315.12.1)
[hrpsys.py]  find CompSvc : sh_svc = <OpenHRP._objref_StateHolderService instance at 0x7fd223f0f3f8>
[hrpsys.py] [self.fk, self.fk_svc, self.fk_version] = self.findComp("ForwardKinematics","fk",0,True)
[hrpsys.py]  find Comp    : fk = <hrpsys.rtm.RTcomponent instance at 0x7fd2247f2dd0> (315.12.1)
[hrpsys.py]  find CompSvc : fk_svc = <OpenHRP._objref_ForwardKinematicsService instance at 0x7fd223fbd908>
[hrpsys.py] [self.el, self.el_svc, self.el_version] = self.findComp("SoftErrorLimiter","el",0,True)
[hrpsys.py]  find Comp    : el = <hrpsys.rtm.RTcomponent instance at 0x7fd22480efc8> (315.12.1)
[hrpsys.py]  find CompSvc : el_svc = <OpenHRP._objref_SoftErrorLimiterService instance at 0x7fd223fc31b8>
[hrpsys.py] [self.ic, self.ic_svc, self.ic_version] = self.findComp("ImpedanceController","ic",0,True)
[hrpsys.py]  find Comp    : ic = <hrpsys.rtm.RTcomponent instance at 0x7fd22480db00> (315.12.1)
[hrpsys.py]  find CompSvc : ic_svc = <OpenHRP._objref_ImpedanceControllerService instance at 0x7fd223fc3e60>
[hrpsys.py] [self.log, self.log_svc, self.log_version] = self.findComp("DataLogger","log",0,True)
[hrpsys.py]  find Comp    : log = <hrpsys.rtm.RTcomponent instance at 0x7fd2248053b0> (315.12.1)
[hrpsys.py]  find CompSvc : log_svc = <OpenHRP._objref_DataLoggerService instance at 0x7fd223f7d200>
[hrpsys.py] setup joint groups for hrpsys controller
[hrpsys.py] initialized successfully
[ WARN] [1495516960.485587998]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.


[ERROR] [1495516960.594956365]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1495516960.599806400]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1495516960.603235132]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1495516960.693611473]: could not find openrave joint WAIST!

[ERROR] [1495516960.700367751]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1495516960.700458677]: Loading robot model 'HiroNX'...
[ INFO] [1495516960.700484096]: No root/virtual joint specified in SRDF. Assuming fixed joint
^C[INFO] [WallTime: 1495516969.288101] [0.000000] Joint names; Torso: ['CHEST_JOINT0']
        Head: ['HEAD_JOINT0', 'HEAD_JOINT1']
        L-Arm: ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
        R-Arm: ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
[WARN] [WallTime: 1495516969.290552] [0.000000] Moveit is not started yet, if you want to use MoveIt!
Make sure you've launched MoveGroup (e.g. by launching moveit_planning_execution.launch)

In [1]:
Do you really want to exit ([y]/n)?

[130s]

On a user's Ubuntu host, HrpsysSeqStateROSBridge0 can't be connected, both with their real robot and on simulation.

I was wrong; on the simulation on this user's Ubuntu computer, this issue is NOT occurring.
As in #333 (comment), the simulation on my own computer this issue happens.

[k-okada]

please confirm that impedance controller is running on simulator with hironx robot with https://github.com/start-jsk/rtmros_hironx/pull/338/files#diff-197cb5094a9e431bf96e62d767605f2fR783, before you try to run them on nextage robot, they are slightly different.

[k-okada]

``` [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7f7130a59fc8> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7f7130a59fc8> isActive? = True ``` on real robot, it should connect to RobotHardware, not HiroNX(Robot)0. please check code around [this line](https://github.com/tork-a/rtmros_nextage/blob/1194537861361bb7308d1cc0618c6343c05a6d28/nextage_ros_bridge/script/nextage.py#L69).

[130s]

On simulator on my computer,

please confirm that impedance controller is running on simulator with hironx robot with https://github.com/start-jsk/rtmros_hironx/pull/338/files#diff-197cb5094a9e431bf96e62d767605f2fR783, before you try to run them on nextage robot, they are slightly different.

Yes Impedance Controller works for Hironx sim.

On the real robot,

on real robot, it should connect to RobotHardware, not HiroNX(Robot)0.

Good point, I failed to include the full log in my post from the real robot #333 (comment). But anyway it used the latest deb at that time hironx_ros_bridge 1.1.23 that sets --robot RobotHardware.

Still, I understand that it's a bit confusing to discuss an issue on the real and simulator in a single ticket even for the same error. On this ticket let us only talk about the real robot issue.

[k-okada]

Good point, I failed to include the full log in my post from the real robot #333 (comment). But anyway it used the latest deb at that time hironx_ros_bridge 1.1.23 that sets --robot RobotHardware.

#333 (comment) logs seems rtcd is dieing , we need rtcd.log and full log of roslaunch output, also you'd better to start with roslauch -s when you debug.

[130s]

Turned out that sensorId in .wrl needs to be uniquely sequenced PER the types of sensors. E.g. in openhrp3/sample/model/sample1.wrl, for both AccelerationSensor and Gyro sensorId starts from 0.