-
Notifications
You must be signed in to change notification settings - Fork 0
/
log.out
270 lines (253 loc) · 16.4 KB
/
log.out
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
RoscoreConfiguartor activating.......
Current Path = /home/brainiot-ros/Downloads/brain-iot-robotics-events/eu.brain.iot.single-framework-example/target
roscore config file: /home/brainiot-ros/rosConfig.txt
robotIP=192.168.2.202
robotId=1
robotName=rb1_base_a
successfully read file rosConfig.txt with flag = 1
--> masterURI = http://192.168.2.202:11311
--> robotName = rb1_base_a
--> robotId = 1
--------------------Internal CartMapper---------------------------
{2=rb1_base_a_cart2_contact, 3=rb1_base_b_cart3_contact, 4=rb1_base_c_cart4_contact}
-----------------------------------------------
connecting to roscore, start =false
add this node 2
Hello! I am ROS Edge Node : 1 name = rb1_base_a IP = 192.168.2.202, UUID = af08251a-abc1-4bed-afb7-2ab44601f7a9
+++++++++ Ros Edge Node filter = (|(robotID=1)(robotID=-1))
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar <init>
INFO: MasterXmlRpcEndpoint URI: http://192.168.2.202:11311
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar onPublisherAdded
INFO: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</rosinfo1, http://192.168.2.202:44137/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Registered [/rosinfo1] as publisher of [/rosout], [http://brainiotros-Inspiron-5570:42465/]>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.topic.DefaultPublisher$1 onMasterRegistrationSuccess
INFO: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</rosinfo1, http://192.168.2.202:44137/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/clock], [http://brainiotros-Inspiron-5570:44995/]>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
onStart line 271
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar <init>
INFO: MasterXmlRpcEndpoint URI: http://192.168.2.202:11311
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar onPublisherAdded
INFO: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</robot_1/serviceController, http://192.168.2.202:44945/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Hello! I am robotBehavior : 0, UUID = af08251a-abc1-4bed-afb7-2ab44601f7a9
+++++++++ Robot Behaviour filter =
Hello, this is Table Queryer !
Table Queryer is reading /home/brainiot-ros/tables..........
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Registered [/robot_1/serviceController] as publisher of [/rosout], [http://brainiotros-Inspiron-5570:42465/]>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.topic.DefaultPublisher$1 onMasterRegistrationSuccess
INFO: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</robot_1/serviceController, http://192.168.2.202:44945/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Jan 27, 2021 6:57:15 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/clock], [http://brainiotros-Inspiron-5570:44995/]>
The ROS Edge Node is registering....for Robot 1
Jan 27, 2021 6:57:15 PM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
Jan 27, 2021 6:57:16 PM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</rb1_base_a/robot_local_control/state>, TopicDescription<robot_local_control_msgs/Status, 462e43c7f195a2a163e1766a560a3280>>>
availibility registered.
Jan 27, 2021 6:57:16 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/rb1_base_a/robot_local_control/state], [http://brainiotros-Inspiron-5570:34953/, http://brainiotros-Inspiron-5570:37693/]>
Jan 27, 2021 6:57:16 PM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</rb1_base_a/robot_local_control/state>, TopicDescription<robot_local_control_msgs/Status, 462e43c7f195a2a163e1766a560a3280>>>
Jan 27, 2021 6:57:16 PM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</rb1_base_a/ar_pose_marker>, TopicDescription<ar_track_alvar_msgs/AlvarMarkers, 943fe17bfb0b4ea7890368d0b25ad0ad>>>
ar_pose_marker registered.
Jan 27, 2021 6:57:16 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/rb1_base_a/ar_pose_marker], [http://brainiotros-Inspiron-5570:39635/, http://brainiotros-Inspiron-5570:38443/, http://brainiotros-Inspiron-5570:37693/]>
Jan 27, 2021 6:57:16 PM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</rb1_base_a/ar_pose_marker>, TopicDescription<ar_track_alvar_msgs/AlvarMarkers, 943fe17bfb0b4ea7890368d0b25ad0ad>>>
GoToComponent service registed.
{
"data" : 0.0
}
DOOR REST Service Invoked Successfully..
PickComponent service registed.
PlaceComponent service registed.
+++++++++ Table Queryer filter = (robotID=*)
------------ PickingTable ----------------
-->RB 0 received an event: RobotReadyBroadcast
>>> robot_1 broadCast Ready info
-->RB 1 update properties = {eu.brain.iot.behaviour.filter=(|(robotID=1)(robotID=-1))}
-->RB 1 robotReady -- true
PP1, 8.0,-3.6,-3.14, TRUE
PP2, 8.0,-5.5,-3.14, FALSE
PP3, 8.0,-7.75,-3.14, FALSE
--------------------------- Query Pick point --------------------------------------
-->RB1 is waiting PickResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.NewPickPointRequest
--> Table Queryer got a pickPoint 8.0,-5.5,-3.14
------------ PickingTable ----------------
PP1, 8.0,-3.6,-3.14, TRUE
PP2, 8.0,-5.5,-3.14, TRUE
PP3, 8.0,-7.75,-3.14, FALSE
Queryer sent NewPickPointResponse {"hasNewPoint":true, "pickPoint":"8.0,-5.5,-3.14", "robotID":1, "sourceNode":null, "timestamp":null, "securityToken":null}
-->RB 1 received an event: NewPickPointResponse
----------- has new Pick Point = true-------------
-->RB1 get new Pick Point: 8.0,-5.5,-3.14
--------------------------- Go to Picking point --------------------------------------
-->RB1 is sending WriteGoTo: 8.0,-5.5,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 8.0,-5.5,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo Picking point successfully
--------------------------- check Cart Marker --------------------------------------
-->RB1 sending CheckMarker
-->RB1 is waiting for pose Marker
>>> Robot 1 received an event: class eu.brain.iot.robot.events.CheckMarker with robotID = 1
>>> Robot 1 see Markers size = 1, and first marker ID = 3
>>> Robot 1 reply with MarkerReturn: 3
-->RB 1 received an event: MarkerReturn
-->RB1 receive Check Marker return, marker ID = 3
-->RB1 got new MarkerID = 3
--------------------------- Pick Cart --------------------------------------
-->RB1 is sending PickCart with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.PickCart with robotID = 1
>>> robot 1 pickCart gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 Pick Cart successfully
--------------------------- Query Storage point --------------------------------------
-->RB1 is waiting storageResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.NewStoragePointRequest
-->RB 1 received an event: NewStoragePointResponse
-----------has new Storage Point-------------
--------------------------- Go to Storage AUX --------------------------------------
-->RB1 is sending WriteGoTo: 7.0,-0.6,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 7.0,-0.6,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo storage AUX successfully
--------------------------- Check Door Marker --------------------------------------
-->RB1 is sending cmd to check Door Marker
-->RB1 is waiting for pose Marker
>>> Robot 1 received an event: class eu.brain.iot.robot.events.CheckMarker with robotID = 1
>>> Robot 1 see Markers size = 1, and first marker ID = 2
>>> Robot 1 reply with MarkerReturn: 2
-->RB 1 received an event: MarkerReturn
-->RB1 receive Check Marker return, marker ID = 2
-->RB1 got DoorID = 2
--------------------------- Go to Storage Point --------------------------------------
-->RB1 is sending WriteGoTo: 0.0,0.0,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 0.0,0.0,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo storage Point successfully
--------------------------- Place Cart --------------------------------------
-->RB1 sending placeCart
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.PlaceCart with robotID = 1
>>> robot 1 PlaceCart gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
>>> ROBOT 1 finishs this iteration.........
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 Place Cart successfully
--------------------------- Cart Moved Notice --------------------------------------
-->RB1 is sending CartMovedNotice
-->RB1 is waiting CartNoticeResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.CartMovedNotice
------------ PickingTable ----------------
PP1, 8.0,-3.6,-3.14, TRUE
PP2, 8.0,-5.5,-3.14, FALSE
PP3, 8.0,-7.75,-3.14, FALSE
Table Queryer is sending CartNoticeResponse = OK
-->RB 1 received an event: CartNoticeResponse
-->RB1 got CartNoticeResponse
--------------------------- Docking Request --------------------------------------
-->RB1 is sending DockingRequest with robotIP = 1
-->RB1 is waiting dockingResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.DockingRequest
--> Table Queryer got a DockingRequest for robot 1
-->RB 1 received an event: DockingResponse
--------------------------- Go to Docking AUX --------------------------------------
-->RB1 is sending WriteGoTo: 5.0,-0.6,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 5.0,-0.6,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo docking AUX successfully
--------------------------- Check Door Marker --------------------------------------
-->RB1 sending check Door Marker on the way to Docking area
-->RB1 is waiting for pose Marker
>>> Robot 1 received an event: class eu.brain.iot.robot.events.CheckMarker with robotID = 1
>>> Robot 1 see Markers size = 1, and first marker ID = 1
>>> Robot 1 reply with MarkerReturn: 1
-->RB 1 received an event: MarkerReturn
-->RB1 receive Check Marker return, marker ID = 1
-->RB1 got DoorID = 1
--------------------------- Go to Docking Point --------------------------------------
-->RB1 is sending WriteGoTo: 8.0,0.0,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 8.0,0.0,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo dock Point successfully
--------------------------- Query Pick point --------------------------------------
-->RB1 is waiting PickResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.NewPickPointRequest
--> Table Queryer got a pickPoint 8.0,-5.5,-3.14
------------ PickingTable ----------------
PP1, 8.0,-3.6,-3.14, TRUE
PP2, 8.0,-5.5,-3.14, TRUE
PP3, 8.0,-7.75,-3.14, FALSE
Queryer sent NewPickPointResponse {"hasNewPoint":true, "pickPoint":"8.0,-5.5,-3.14", "robotID":1, "sourceNode":null, "timestamp":null, "securityToken":null}
-->RB 1 received an event: NewPickPointResponse
----------- has new Pick Point = true-------------
-->RB1 get new Pick Point: 8.0,-5.5,-3.14
--------------------------- Go to Picking point --------------------------------------
-->RB1 is sending WriteGoTo: 8.0,-5.5,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 8.0,-5.5,-3.14
>>> robot 1 WriteGOTO gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 GoTo Picking point successfully
--------------------------- check Cart Marker --------------------------------------
-->RB1 sending CheckMarker
-->RB1 is waiting for pose Marker
>>> Robot 1 received an event: class eu.brain.iot.robot.events.CheckMarker with robotID = 1
>>> Robot 1 see Markers size = 1, and first marker ID = 3
>>> Robot 1 reply with MarkerReturn: 3
-->RB 1 received an event: MarkerReturn
-->RB1 receive Check Marker return, marker ID = 3
-->RB1 got new MarkerID = 3
--------------------------- Pick Cart --------------------------------------
-->RB1 is sending PickCart with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.PickCart with robotID = 1
>>> robot 1 pickCart gets CallResponse: result=ok, current_state=finished, last_event=finish, message is: Perfect
-->RB 1 received an event: QueryStateValueReturn
-->RB1 receive QueryStateValueReturn = finished
-->RB 1 Pick Cart successfully
--------------------------- Query Storage point --------------------------------------
-->RB1 is waiting storageResponse
--> Table Queryer received an event class eu.brain.iot.warehouse.events.NewStoragePointRequest
-->RB 1 received an event: NewStoragePointResponse
-----------has new Storage Point-------------
--------------------------- Go to Storage AUX --------------------------------------
-->RB1 is sending WriteGoTo: 7.0,-0.6,-3.14with robotID = 1
-->RB1 is waiting QueryStateValueReturn
>>> Robot 1 received an event: class eu.brain.iot.robot.events.WriteGoTo with robotID = 1
>>> Robot 1 received GoTo: 7.0,-0.6,-3.14
^Cbrainiot-ros@brainiotros-Inspiron-5570:~/Downloads/brain-iot-robotics-events/eu.brain.iot.single-framework-example/target$