[WIP] Enable impedance control on hrpsys-simulator (Address #302). #305

130s · 2017-03-29T02:29:02Z

UPDATE 20170531 I've already spent tremendous amount on this PR and still ashamedly can't get it running. I'll stop working on this. If anyone is willing to take this over please feel free to open a new pull request (it's your choice to fork this branch or start over your own).

DO NOT MERGE YET. #302 is not yet solved by this.

Besides, adding an entire .dae file only for optional feature (ie. impedance) is way too much too.

130s · 2017-05-26T03:54:59Z

nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch

@@ -20,6 +25,7 @@
    <arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
    <arg name="SIMULATOR_NAME" value="HiroNX(Robot)0" />
    <arg name="CONF_FILE_COLLISIONDETECT" value="$(arg CONF_FILE_COLLISIONDETECT)" />
+    <arg name="USE_IMPEDANCECONTROLLER" value="$(arg USE_IMPEDANCE)" />


I found in hironx_ros_bridge_simulation.launch, this isn't even turned to true and still Impedance Controller works. So I ran ran sim on NEXTAGE with this set as false, I stopped seeing "wait for HrpsysSeqStateROSBridge0 : None" error (discussed in #333) on the simulator.

rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch USE_IMPEDANCE:=false

However, the following still occurs when I ran robot.startImpedance and I don't see the impedance behavior.

[ic] Could not found impedance controller param [rarm]

130s · 2017-05-26T04:17:05Z

nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch

@@ -1,16 +1,21 @@
 <launch>
+  <arg name="USE_IMPEDANCE" default="false" doc="true to enable Impedance Controller." />  <!-- Need to defined early to be used by another ags. -->


#305 (comment) is not entirely correct.

When I set this USE_IMPEDANCE to true in order to apply the .wrl file that has f/t sensors, "wait for HrpsysSeqStateROSBridge0 : None" error still occurs.

That said, what's causing the error above is the main_ftsensor.wrl file that I'm adding in this PR.

[ros_bridge] .wrl with f/t sensors.

…_bridge to enable impedance control.

…or HrpsysSeqStateROSBridge0 : None' error. Still tork-a#302 needs fixed.

…ew .dae file. .dae is hardcoded in nextage_ros_bridge/conf upon building so having multiple versions of .dae to select upon runtime may not be easy to implement.

130s · 2017-06-01T00:48:46Z

With 98034a7, rtmlaunch runs fine (impedance parameter is not yet found as expected at this moment).

Without 98034a7, the same error keeps occuring. Thing I particularly noticed:

Humanoid node
Joint node WAIST
  Segment node BODY

Normally, Segment node is followed by WAIST, not BODY. Also all the joints and links should follow the Segment line.

Full log

Wed May 31 17:41:53 2017:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d0000003139322e3136382e302e313800009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000d1622f5901007c56
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/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/roslaunch-tork-kudu1-31824.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;/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch�
�[1mstarted roslaunch server http://tork-kudu1:34175/�[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 [31839]�[0m
�[1mROS_MASTER_URI=http://localhost:11311�[0m
�]2;/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch http://localhost:11311�
�[1msetting /run_id to 1bbdaee0-4663-11e7-8202-80fa5b08d1d8�[0m
�[1mprocess[rosout-1]: started with pid [31853]�[0m
started core service [/rosout]
�[1mprocess[modelloready
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/rostofu/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.

loading /home/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
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 ! 
Collada Warning: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

;;
;; Could not open /dev/console for writing.
;;
open: Permission denied
[CollisionDetector0] onInitialize()
cache found for file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
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: 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
�[31m[hrpsys-3] process has died [pid 31882, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
Collada Warning: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
�[31m[ERROR] [1496277715.295963782]: Target Node visual1/node_joint0_axis0 NOT found!!!
�[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
[rtmlaunch] starting...  /opt/ros/indigo/share/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
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
�[32m[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 �[0m
�[32m[rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0 �[0m
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
�[33m[rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   0 /30�[0m
[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
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 
cache found for /home/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
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 = 2, name = CAMERA_HAND_R)
duplicated sensor Id is specified(id = 5, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = CAMERA_HAND_L)
duplicated sensor Id is specified(id = 4, name = lhsensor)
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
[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
�[31m[rtmlaunch] Could not start rtmlaunch.py, Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) )�[0m
�[31m[rtmlaunch] .. Could not connect to NameServer at  localhost:15005 , Caught exception ( CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) )�[0m
�[31m[rtmlaunch] .. Please make sure that you have NameServer running at localhost:15005/`�[0m
�[31m[rtmlaunch] .. You can check with `rtls localhost:15005/`�[0m
�[31m[hrpsys-3] process has died [pid 32211, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
[rtmlaunch] starting...  /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch
�[32m[rtmlaunch] RTCTREE_NAMESERVERS localhost:15005 localhost:15005 �[0m
�[32m[rtmlaunch] SIMULATOR_NAME Simulator �[0m
[rtmlaunch] check connection/activation
�[33m[rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R   0 /30�[0m
cache found for /home/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
�[33m[ WARN] [1496277715.557579838]: [HrpsysSeqStateROSBridge] use_hrpsys_time�[0m
�[0m[ INFO] [1496277715.892724162]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0�[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 
cache found for /home/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae
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 = 2, name = CAMERA_HAND_R)
duplicated sensor Id is specified(id = 5, name = rhsensor)
duplicated sensor Id is specified(id = 3, name = CAMERA_HAND_L)
duplicated sensor Id is specified(id = 4, name = lhsensor)
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 32428, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
�[31m[HrpsysSeqStateROSBridge-5] process has died [pid 31884, 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/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae -o example.HrpsysSeqStateROSBridge.config_file: __name:=HrpsysSeqStateROSBridge __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/HrpsysSeqStateROSBridge-5.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/HrpsysSeqStateROSBridge-5*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[33m[rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:q   1 /30�[0m
�[31m[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:q , /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle ):  CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) �[0m
�[31m[hrpsys-3] process has died [pid 32588, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc   0 /30�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 32630, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
configuration ORB with localhost:15005
Manager not found
Traceback (most recent call last):
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py", line 191, in <module>
    rtc_init()
  File "/opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py", line 41, in rtc_init
    rospy.loginfo("[collision_state.py] wait for RTCmanager : ",ms)
  File "/usr/lib/python2.7/logging/__init__.py", line 1152, in info
    self._log(INFO, msg, args, **kwargs)
  File "/usr/lib/python2.7/logging/__init__.py", line 1271, in _log
    self.handle(record)
  File "/usr/lib/python2.7/logging/__init__.py", line 1281, in handle
    self.callHandlers(record)
  File "/usr/lib/python2.7/logging/__init__.py", line 1321, in callHandlers
    hdlr.handle(record)
  File "/usr/lib/python2.7/logging/__init__.py", line 749, in handle
    self.emit(record)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/roslogging.py", line 201, in emit
    msg += ' %s\n' % record.getMessage()
  File "/usr/lib/python2.7/logging/__init__.py", line 328, in getMessage
    msg = msg % self.args
TypeError: not all arguments converted during string formatting
�[33m[rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R   1 /30�[0m
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 0x7fa9fd4068c0> ( timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fa9fd4068c0> isActive? = False 
Traceback (most recent call last):
  File "/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/script/nextage.py", line 83, in <module>
    robot.init(robotname=args.robot, url=args.modelfile)
  File "/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py", line 109, in init
    HIRONX.init(self, robotname=robotname, url=url)
  File "/home/rostofu/src/start-jsk/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py", line 338, in init
    HrpsysConfigurator.waitForRTCManagerAndRoboHardware(self, robotname=robotname)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 987, in waitForRTCManagerAndRoboHardware
    return self.waitForRTCManagerAndRobotHardware(robotname=robotname, managerhost=managerhost)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 998, in waitForRTCManagerAndRobotHardware
    self.checkSimulationMode()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 978, in checkSimulationMode
    if rtm.findPort(self.rh.ref, "servoState"): # for RobotHadware <= 315.3.0, which does not have service port
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/rtm.py", line 463, in findPort
    prof = p.get_port_profile()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/RTC_idl.py", line 1205, in get_port_profile
    return _omnipy.invoke(self, "get_port_profile", _0_RTC.PortService._d_get_port_profile, args)
omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)
�[31m[hrpsys-3] process has died [pid 32662, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
�[31m[collision_state-19] process has died [pid 32091, exit code 1, cmd /opt/ros/indigo/share/hrpsys_ros_bridge/scripts/collision_state.py /home/rostofu/src/tork-a/rtmros_nextage/nextage_description/models/main.dae -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/collision_state-19.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/collision_state-19*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 32693, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[33m[rtmlaunch] Wait for  /localhost:15005/HrpsysSeqStateROSBridge0.rtc   1 /30�[0m
�[31m[rtmlaunch] Could not Activate ( localhost:15005/HrpsysSeqStateROSBridge0.rtc ) :  CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) �[0m
�[31m[hrpsys-3] process has died [pid 32726, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[33m[rtmlaunch] Wait for  /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R   2 /30�[0m
�[31m[rtmlaunch] [ERROR] Could not Connect ( /localhost:15005/HiroNX(Robot)0.rtc:CAMERA_HEAD_R , /localhost:15005/ImageSensorROSBridge_HeadRight.rtc:timedImage ):  CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) �[0m
[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
�[31m[hrpsys-3] process has died [pid 32743, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 32758, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 305, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 320, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 336, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 351, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 369, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 384, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[31m[hrpsys-3] process has died [pid 399, exit code -11, cmd /opt/ros/indigo/lib/hrpsys/hrpsys-simulator /home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage_nosim.xml -o manager.is_master:YES -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o exec_cxt.periodic.rate:1000000 -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/opt/ros/indigo/share/hrpsys/lib -o manager.modules.preload:HGcontroller.so -o manager.components.precreate:HGcontroller -o exec_cxt.periodic.type:SynchExtTriggerEC -o example.SequencePlayer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ForwardKinematics.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ImpedanceController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AutoBalancer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.StateHolder.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.TorqueController.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoEstimator.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ThermoLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.VirtualForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.AbsoluteForceSensor.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.KalmanFilter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.Stabilizer.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.CollisionDetector.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.SoftErrorLimiter.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.HGcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.PDcontroller.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.EmergencyStopper.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.ReferenceForceUpdater.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf -o example.RobotHardware.config_file:/home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/conf/nextage.conf __name:=hrpsys __log:=/home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3.log].
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys-3*.log�[0m
cache found for file:///opt/ros/indigo/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.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 file:///home/rostofu/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
�[33m[rtmlaunch] Catch signal 'SIGINT', exitting...�[0m
�[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'
terminate called after throwing an instance of 'terminate called after throwing an instance of 'CORBA::COMM_FAILURECORBA::COMM_FAILURE'
'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
terminate called after throwing an instance of 'CORBA::COMM_FAILURE'
[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 : tork-kudu1
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : None ( timeout 0 < 10)
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : None ( timeout 1 < 10)
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : None ( timeout 2 < 10)
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : None ( timeout 3 < 10)
[sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : None ( timeout 4 < 10)
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 41, in initSensorRosBridgeConnection
    hcf.waitForRTCManagerAndRoboHardware(simulator_name, managerhost)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 987, in waitForRTCManagerAndRoboHardware
    return self.waitForRTCManagerAndRobotHardware(robotname=robotname, managerhost=managerhost)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 997, in waitForRTCManagerAndRobotHardware
    self.waitForRobotHardware(robotname)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 948, in waitForRobotHardware
    time.sleep(1);
KeyboardInterrupt
�[33m[rtmlaunch] Catch signal 'SIGINT', exitting...�[0m
ader-2]: started with pid [31877]�[0m
�[1mprocess[hrpsys-3]: started with pid [31882]�[0m
�[1mprocess[hrpsys_py-4]: started with pid [31883]�[0m
�[1mprocess[HrpsysSeqStateROSBridge-5]: started with pid [31884]�[0m
�[1mprocess[HrpsysJointTrajectoryBridge-6]: started with pid [31885]�[0m
�[1mprocess[hrpsys_state_publisher-7]: started with pid [31888]�[0m
�[1mprocess[hrpsys_ros_diagnostics-8]: started with pid [31919]�[0m
�[1mprocess[diagnostic_aggregator-9]: started with pid [31936]�[0m
�[1mprocess[hrpsys_profile-10]: started with pid [31960]�[0m
�[1mprocess[sensor_ros_bridge_connect-11]: started with pid [31972]�[0m
�[1mprocess[rtmlaunch_hrpsys_ros_bridge-12]: started with pid [31987]�[0m
�[1mprocess[SequencePlayerServiceROSBridge-13]: started with pid [31991]�[0m
�[1mprocess[DataLoggerServiceROSBridge-14]: started with pid [31994]�[0m
�[1mprocess[ForwardKinematicsServiceROSBridge-15]: started with pid [32002]�[0m
�[1mprocess[StateHolderServiceROSBridge-16]: started with pid [32025]�[0m
�[1mprocess[CollisionDetectorComp-17]: started with pid [32048]�[0m
�[1mprocess[rtmlaunch_collision_detector-18]: started with pid [32076]�[0m
�[1mprocess[collision_state-19]: started with pid [32091]�[0m
�[1mprocess[rqt_hironxo-20]: started with pid [32095]�[0m
�[1mprocess[rtmlaunch_nextage_ros_bridge_simulation-21]: started with pid [32109]�[0m
�[1mprocess[right/ImageSensorROSBridge_HeadRight-22]: started with pid [32118]�[0m
�[1mprocess[left/ImageSensorROSBridge_HeadLeft-23]: started with pid [32130]�[0m
�[1mprocess[hand_right/ImageSensorROSBridge_HandRight-24]: started with pid [32138]�[0m
�[1mprocess[hand_left/ImageSensorROSBridge_HandLeft-25]: started with pid [32152]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32211]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32428]�[0m
�[1m[rtmlaunch_collision_detector-18] process has finished cleanly
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/rtmlaunch_collision_detector-18*.log�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32588]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32630]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32662]�[0m
�[1m[hrpsys_py-4] process has finished cleanly
log file: /home/rostofu/.ros/log/1bbdaee0-4663-11e7-8202-80fa5b08d1d8/hrpsys_py-4*.log�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32693]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32726]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32743]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [32758]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [305]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [320]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [336]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [351]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [369]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [384]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [399]�[0m
[hrpsys-3] restarting process
�[1mprocess[hrpsys-3]: started with pid [415]�[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
[CollisionDetectorComp-17] killing on exit
[StateHolderServiceROSBridge-16] killing on exit
[DataLoggerServiceROSBridge-14] killing on exit
[ForwardKinematicsServiceROSBridge-15] killing on exit
[SequencePlayerServiceROSBridge-13] 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
[diagnoterminate called after throwing an instance of 'CORBA::COMM_FAILURE'
�[0m[ INFO] [1496277715.431829137]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done�[0m
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
�[31mPluginHandler.load() failed:
CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)�[0m
�[31m[rqt_hironxo-20] escalating to SIGTERM�[0m
stic_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-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

130s · 2017-06-01T05:33:02Z

Without 98034a7, the same error keeps occuring. Thing I particularly noticed:
Humanoid node
Joint node WAIST
  Segment node BODY
Normally, Segment node is followed by WAIST, not BODY. Also all the joints and links should follow the Segment line.

I think that's not an issue -- Running rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch, which successfully loads force sensors and impedance parameters on the simulator, I see the same output.

130s · 2017-06-01T06:20:53Z

I switched back to the rtmros_nextage version 0.7.6 (the latest released is 0.7.16) and rtmros_hironx 1.1.10 where a user did not see this issue occurring (but with a real robot, not sim), and cherry-picked all commits from this PR. The issue #305 (comment) persists. So it's not something added in rtmros_nextage since then that causes the error.

k-okada · 2017-06-07T03:56:15Z

，ありとあらゆる変更を sim 上で試したつもりなので，正直お手上げなのです...

僕の方で引き取ります．メモ： #305 (comment) は [hrpsys.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x7fa9fd4068c0> ( timeout 0 < 10) [hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x7fa9fd4068c0> isActive? = False と出ていますが、シミュレーションだとrtls して、HiroNX(Robot) があるべき．

…

-- ◉ Kei Okada 2017年6月7日 11:31 Isaac I.Y. Saito <notifications@github.com>:

tork-a/delivery#436 (comment) <tork-a/delivery#436 (comment)> の roslaunch の問題ですが，ROS bridge 側の問題で，シミュレータで起きている #305 (comment) <#305 (comment)> と同じではないかと思っています．なので現地作業で解決する必要は必ずしも無いかなと．先ほど口頭でお伝えしたとおり，布施さんと相談して現地作業をどこまでやるか決めて頂いて良いと思います．私は同 PR に #305 (comment) <#305 (comment)> のように書いた通り，ありとあらゆる変更を sim 上で試したつもりなので，正直お手上げなのです... — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#305 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3FpIFEiA8rBY4AYmHqffL1gwC_Ywks5sBguDgaJpZM4MsbKi> .

k-okada · 2017-06-08T14:49:26Z

これで、

$ rtmlaunch nextage_ros_bridge nextage_startup.launch corbaport:=15005 MODEL_FILE:=`rospack find nextage_description`/models/main_ftsensor.wrl
$ ipython -i ./nextage.py
In [1]: robot.goInitial(tm=1)
[hrpsys.py] , JntAnglesOfGr=torso, INITPOSE[i]=[0], tm=1, wait=True
[hrpsys.py] , JntAnglesOfGr=head, INITPOSE[i]=[0, 0], tm=1, wait=True
[hrpsys.py] , JntAnglesOfGr=rarm, INITPOSE[i]=[-0.6, 0, -100, 15.2, 9.4, 3.2], tm=1, wait=True
[hrpsys.py] , JntAnglesOfGr=larm, INITPOSE[i]=[0.6, 0, -100, -15.2, 9.4, -3.2], tm=1, wait=True
Out[1]: True
In [2]: robot.startImpedance('larm')
startImpedance  call is done. This does't necessarily mean the function call was successful, since not all methods internally called return status
In [3]: robot.seq_svc.setWrenches([0,0,-50,0,0,0, 0,0,0,0,0,0], 1)
Out[3]: True
In [4]: robot.seq_svc.setWrenches([0,0,50,0,0,0, 0,0,0,0,0,0], 1)

で動くはずです．
変更したら一回 catkin build してください．main.daeからnextage.daeが作られているためです．

k-okada · 2017-06-09T03:29:11Z

メモ：

hrpsys-simulator 自体で力センサのシミュレーションをするには

モデルに力センサがついていること　（https://github.com/tork-a/rtmros_nextage/blob/0.7.16/nextage_ros_bridge/launch/nextage_startup.launch#L7 ）
プロジェクトファイルにセンサの出力処理がかいてあること．　（https://github.com/tork-a/rtmros_nextage/blob/0.7.16/nextage_ros_bridge/launch/nextage_startup.launch#L17 ）

ちなみにプロジェクトファイルはnextage_nosim.xml と nextage.xml があるが、前者は力学シミュレーションなしなので、力センサに情報は入らない．

diff --git a/nextage_ros_bridge/launch/nextage_startup.launch b/nextage_ros_bridge/launch/nextage_startup.launch
index 658d576..007de24 100644
--- a/nextage_ros_bridge/launch/nextage_startup.launch
+++ b/nextage_ros_bridge/launch/nextage_startup.launch
@@ -14,6 +14,6 @@
     <arg name="LAUNCH_HRPSYSPY" value='$(arg LAUNCH_HRPSYSPY)' />
     <arg name="GUI" value="$(arg GUI)" />
     <arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
-    <arg name="PROJECT_FILE" value="$(find nextage_ros_bridge)/conf/nextage_nosim.xml" />
+    <arg name="PROJECT_FILE" value="$(find nextage_ros_bridge)/conf/nextage.xml" />
   </include>
 </launch>

とする

ちなみに、confファイルはhironx_ros_bridgeパッケージからconfigure_inする(
https://github.com/tork-a/rtmros_nextage/blob/0.7.16/nextage_ros_bridge/CMakeLists.txt#L50-L55 )ので、
start-jsk/rtmros_hironx#510 がひつよう．nextage_ros_bridge/conf 以下を消すか、CMakeList.txt を直したほうが良い．

rosbridge でセンサ情報を利用するにはROS側はcolladaファイルを利用するため、こちらにも力センサ情報が必要（？）
https://github.com/tork-a/rtmros_nextage/blob/0.7.16/nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch#L2
実際にROSBridgeとRTCをつなげているのは以下のコード．（sensor_ros_bridge_connect.py : add more debug message start-jsk/rtmros_common#1015 )
https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch#L84
以下の様してノード接続を表示できる．

rtcryo  | sed 's@<http://www.openrtp.org/namespaces/@<http_www.openrtp.org_namespaces_@' | rtstodot | sed 's@[\(\)]@_@g' | dot -Tpdf -o nextage-simulation.pdf

130s · 2017-06-27T00:45:08Z

Superseded by #336

130s force-pushed the address/302 branch 2 times, most recently from 5fb1647 to 82d1415 Compare March 29, 2017 06:59

130s force-pushed the address/302 branch from 82d1415 to e14ffdb Compare May 12, 2017 00:36

130s force-pushed the address/302 branch 3 times, most recently from 8a77ab3 to f942a0b Compare May 23, 2017 05:20

130s mentioned this pull request May 23, 2017

"wait for HrpsysSeqStateROSBridge0 : None" continues #333

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130s commented May 26, 2017

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130s referenced this pull request in start-jsk/rtmros_hironx May 26, 2017

applying impedance controller

333986a

130s force-pushed the address/302 branch 2 times, most recently from f942a0b to ad435c6 Compare May 26, 2017 04:08

130s commented May 26, 2017

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130s force-pushed the address/302 branch from df61622 to 97ced3c Compare May 26, 2017 23:13

Enable impedance control on hrpsys-simulator (Address tork-a#302).

8136fc1

[ros_bridge] .wrl with f/t sensors.

130s force-pushed the address/302 branch 2 times, most recently from 74e12f1 to 4d1e904 Compare May 28, 2017 15:13

130s added 3 commits May 28, 2017 08:18

[ros_bridge] 'USE_IMPEDANCECONTROLLER' is not even used in hironx_ros…

9c41c99

…_bridge to enable impedance control.

[ros_bridge][simulation] Not using .wrl seems to at least fix 'wait f…

680bc2f

…or HrpsysSeqStateROSBridge0 : None' error. Still tork-a#302 needs fixed.

[description] Add f/t sensor to the main .dae instead of creating a n…

281586b

…ew .dae file. .dae is hardcoded in nextage_ros_bridge/conf upon building so having multiple versions of .dae to select upon runtime may not be easy to implement.

130s force-pushed the address/302 branch from 4d1e904 to 281586b Compare May 28, 2017 15:19

130s force-pushed the address/302 branch from 98034a7 to 281586b Compare June 1, 2017 06:47

130s added enhancement help_wanted labels Jun 1, 2017

k-okada self-assigned this Jun 7, 2017

sid need to start from 0

b9e6067

k-okada mentioned this pull request Jun 8, 2017

support impedance control on simulator #336

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130s closed this Jun 27, 2017

130s deleted the address/302 branch June 27, 2017 00:45

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[WIP] Enable impedance control on hrpsys-simulator (Address #302). #305

[WIP] Enable impedance control on hrpsys-simulator (Address #302). #305

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130s commented Jun 27, 2017

		@@ -1,16 +1,21 @@
		<launch>
		<arg name="USE_IMPEDANCE" default="false" doc="true to enable Impedance Controller." /> <!-- Need to defined early to be used by another ags. -->

[WIP] Enable impedance control on hrpsys-simulator (Address #302). #305

[WIP] Enable impedance control on hrpsys-simulator (Address #302). #305

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