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Description: This is not a tutorial -- this page is there for the sake of search engine. Troubles and possible solutions/workarounds are recorded here.

Tutorial Level: BEGINNER

NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.

Support Guideline for Hiro / NEXTAGE OPEN Opensource Controller

Contact a support provider if you have contracted to the service (called Subscription Service).

Else, you still have several options to get support from opensource community:

  • In general, consulting ROS support guideline is a good idea.

  • Google the erroroneous output.

    • The more error reports accumulate, the larger chance you will find similar issue somewhere online with possibly keys to solutions.
  • Refer to Known Issues and see if you find similar troubles / erroroneous output.

Info to be Always Included

  • To find out the version of hrpsys running on your Controller Box (QNX), you can run the following command from Python interface:

    In [1]: robot.hrpsys_version
    Out[1]: '315.2.8

    Or if you can log on to your Controller Box, run the following (This may not return version for version lower than 315.2.0. See also discussion on hrpsys-base.):

    $ cd /opt/jsk/lib
    $ ls -l RobotHardware.so  
    $ strings RobotHardware.so | grep ^[0-9]*\\.[0-9]*\\.[0-9]*$

  • Following command returns a list of RT components that are running on the robot's host. Nore that the trailing slash is required.

Ubuntu$ rosrun rtshell rtls %HOST_ROBOT%:15005/
  • Example for simulation,
    Ubuntu$ rosrun rtshell rtls localhost:15005/
    Example with NEXTAGE Open (hostname must be tailored with your environment),
    Ubuntu$ rosrun rtshell rtls nextage:15005/

Known Issues

With wstool

ERROR in config: Error processing

Upon wstool update the error might happen. Try removing the folder you're getting error with.

At the moment, a lot of tweaks are needed as reported in this thread.

hrpsys_ros_bridge fails to build

[ rosmake ] Output from build of package hrpsys_ros_bridge written to:
[ rosmake ]    /home/leus/.ros/rosmake/rosmake_output-20130823-115337/hrpsys_ros_bridge/build_output.log
[rosmake-0] Finished <<< hrpsys_ros_bridge [FAIL] [ 143.86 seconds ]                                                           
[ rosmake ] Halting due to failure in package hrpsys_ros_bridge. 
[ rosmake ] Waiting for other threads to complete.           
[ rosmake ] Results:                                                                                                           
[ rosmake ] Built 75 packages with 1 failure

(roscd hrpsys_ros_bridge; make)

AttributeError: 'module' object has no attribute 'get_sysinfo'

$ simulation.launch 
Traceback (most recent call last):
  File "/home/leus/ros/groovy/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/rtmlaunch", line 3, in <module>
    import os,psutil,subprocess,socket,sys
  File "/opt/ros/groovy/lib/python2.7/dist-packages/psutil/__init__.py", line 65, in <module>
    import psutil._pslinux as _psplatform
  File "/opt/ros/groovy/lib/python2.7/dist-packages/psutil/_pslinux.py", line 90, in <module>
    TOTAL_PHYMEM = _psutil_linux.get_sysinfo()[0]
AttributeError: 'module' object has no attribute 'get_sysinfo'

If you see this error,

$ sudo apt-get remove ros-groovy-rqt-top

No moveit! found?

$ roslaunch hironx_moveit_config moveit_planning_execution.launch

If you see error with this, then:

$ sudo apt-get install ros-groovy-moveit-full-pr2

[rospack] Error: stack/package collada_tools not found

[rospack] Error: stack/package collada_tools not found
make[2]: *** [/home/leus/catkin_ws/src/rtmros_hironx/hironx_moveit_config/models/HiroNX.urdf] Error 2
make[1]: *** [rtmros_hironx/hironx_moveit_config/CMakeFiles/hironx_moveit_config_HiroNX_urdf.dir/all] Error 2

Then do:

$ mv src/rtmros_hironx .

[rospack] Error: package/stack 'collada_tools' depends on non-existent package

[rospack] Error: package/stack 'collada_tools' depends on non-existent package 'colladadom' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

Then comment out in collada_tools/manifest.xml:

<!-- <depend package="colladadom"/> -->

rtm/idl/SDOPackageSkel.h:35:33: Fatal: rtm/idl/SDOPackage.hh:

$ rosmake hironx_ros_bridge
../../../../src/lib/rtm/idl/SDOPackageSkel.h:35:33: Fatal: rtm/idl/SDOPackage.hh: not found


$ rosdep install hironx_ros_bridge

Then before rosmake-ing,

$ roscd openrtm_aist
$ make clean

Halt at [hrpsys.py] waiting ModelLoader

/!\ This is obsolete as of April 2017.

When you run and see:

$ roscd hironx_ros_bridge/scripts
$ ./hironx.py
[hrpsys.py]  waiting ModelLoader

Then define environmental variable by running:

export RTCTREE_NAMESERVERS=localhost:5005
export ORBInitRef="NameService=corbaloc:iiop:localhost:15005/NameService"

run_id on parameter server does not match declared run_id:

If you see a message like this while trying to run with MoveIt!, check if your computer is able to communicate with your real robot.

run_id on parameter server does not match declared run_id: e6ff428e-0ec8-11e3-a8cf-88532e0fe6e6 vs e8491bd8-0ec8-11e3-9deb-88532e0fe6e6

Upon initialization "TRANSIENT: CORBA.TRANSIENT"


Run hironx by:

$ rtmlaunch hironx_ros_bridge hironx_startup.launch

No or less tf published

There could be various cases with Hiro or Nextage Open where tf isn't sufficiently published. Some possibilities:

  • Make sure ros_bridge is running on Vision PC (Ubuntu) (see).

  • Vision PC (Ubuntu) is using other than eth0 (reference).

  • Similarly, Vision PC (Ubuntu) is using eth0 but other application that adds virtual NIC is running (see).

Wiki: rtmros_nextage/Tutorials/Known Troubleshoots (last edited 2017-04-04 22:35:12 by IsaacSaito)