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Troubleshooting

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

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]*$
  315.2.0

• 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

Then,

$ 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"

TRANSIENT: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)

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).