Cannot run hrpsys example from deb

[snozawa]

I could not run hrpsys example from start-jsk/hrpsys system.

For source environment, this example can be executed.

$ rtmlaunch hrpsys samplerobot.launch
$ rosrun hrpsys samplerobot-data-logger.py

For deb-installed environment, this example cannot be executed because of these errors:

rosrun hrpsys samplerobot-data-logger.py
configuration ORB with  nozawa-HP-Z620-Workstation2 : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
[hrpsys.py]  wait for RTCmanager :  None
[hrpsys.py]  wait for SampleRobot(Robot)0  :  <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> (timeout  0  < 10)
[hrpsys.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> isActive? =  True
[hrpsys.py]  simulation_mode :  True
[hrpsys.py]    bodyinfo URL = file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl
Traceback (most recent call last):
  File "/opt/ros/hydro/share/hrpsys/samples/samplerobot-data-logger.py", line 25, in <module>
    samplerobot_data_logger.demo()
  File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 23, in demo
    init()
  File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 20, in init
    hcf.init ("SampleRobot(Robot)0", "/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl")
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1505, in init
    self.sensors = self.getSensors(url)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 536, in getSensors
    self.getBodyInfo(url)._get_links())), [])  # sum is for list flatten
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 527, in getBodyInfo
    return mdlldr.getBodyInfo("file://" + url)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/ModelLoader_idl.py", line 700, in getBodyInfo
    return _omnipy.invoke(self, "getBodyInfo", _0_OpenHRP.ModelLoader._d_getBodyInfo, args)
OpenHRP.ModelLoaderException: OpenHRP.ModelLoader.ModelLoaderException(description='/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl cannot be found.')

Maybe, OPENHRP_DIR should be /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1.

[k-okada]

if you're tackle on this issue, please assign yourself, if not please assign me.

[snozawa]

Thanks.
I do not fully understand which part corresponds to OPENHRP_DIR setting in catkin_make,
so i could not fix this problem immediately.
Could you please tackle on this issue?

[k-okada]

Fixed in #129,

1. this is not deb problem, it fails on source insatll (please confirm that
   before merge 129)
2. modify OpenHRP-3.1 path due to ROS-fhs layout, see #128 #129 solves problem you reported, but it fails when install
   TorqueController plugin, can I re-assign this issue to you? or @orikuma?
3. We'd better to add this program to test code

[hrpsys.py]    eval :  [self.tc, self.tc_svc, self.tc_version] =
self.createComp("TorqueController","tc")
Traceback (most recent call last):
  File
"/home/k-okada/catkin_ws/ws_rtmros/src/hrpsys/samples/samplerobot-data-logger.py",
line 25, in <module>
    samplerobot_data_logger.demo()
  File
"/home/k-okada/catkin_ws/ws_rtmros/src/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py",
line 23, in demo
    init()
  File
"/home/k-okada/catkin_ws/ws_rtmros/src/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py",
line 20, in init
    hcf.init ("SampleRobot(Robot)0",
"/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl")
  File
"/home/k-okada/catkin_ws/ws_rtmros/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py",
line 1664, in init
    self.createComps()
  File
"/home/k-okada/catkin_ws/ws_rtmros/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py",
line 460, in createComps
    exec(create_str)
  File "<string>", line 1, in <module>
  File
"/home/k-okada/catkin_ws/ws_rtmros/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py",
line 439, in createComp
    comp = self.ms.create(compName, instanceName)
  File
"/home/k-okada/catkin_ws/ws_rtmros/devel/lib/python2.7/dist-packages/hrpsys/rtm.py",
line 206, in create
    ref = self.ref.create_component(args)
  File
"/opt/ros/hydro/lib/python2.7/dist-packages/OpenRTM_aist/RTM_IDL/Manager_idl.py",
line 159, in create_component
    return _omnipy.invoke(self, "create_component",
_0_RTM.Manager._d_create_component, args)
omniORB.CORBA.COMM_FAILURE:
CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply,
CORBA.COMPLETED_MAYBE)

On Tue, Oct 7, 2014 at 9:54 PM, Shunichi Nozawa [email protected]
wrote:

Assigned #128 #128 to @k-okada
https://github.com/k-okada.

—
Reply to this email directly or view it on GitHub
#128 (comment).

[k-okada]

self.createComp("TorqueController","tc") problem is due to missing https://github.com/fkanehiro/hrpsys-base/pull/347/files, if we include this patch, then the code works.

[snozawa]

Fixed in #129, 1) this is not deb problem, it fails on source insatll (please confirm that before merge 129)

As you said, I confirmed that this problem is derived from installation process.
I found that the same problem occurs in running the same sample programs after catkin_make install && source install/setup.bash.
So, I'll merge #129 later.

2. modify OpenHRP-3.1 path due to ROS-fhs layout, see #128 #129 solves problem you reported, but it fails when install TorqueController plugin, can I re-assign this issue to you? or @orikuma?

This is torquecontroller bug and already @orikuma solved this bug :
https://github.com/fkanehiro/hrpsys-base/pull/347/files

So, this will be solved in the next release:
#127
fkanehiro/hrpsys-base#353

[snozawa]

The original problem of this issue is already solved through #129
and another problem is already reported and discussed in #127 and
fkanehiro/hrpsys-base#353.
So I close this issue.
Thanks.