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jsk-ros-pkg/jsk_robot

Home Page: https://github.com/jsk-ros-pkg/jsk_robot

CMake 0.48% Python 2.84% HTML 0.01% Makefile 0.01% C++ 0.59% Shell 0.92% Common Lisp 95.03% Roff 0.12%

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k-okada yoheikakiuchi garaemon tarukosu aginika s-noda furushchev h-kamada umoji wkentaro kochigami chiwunau kakehashi thorikawa otl kendemu inabajsk jiangjun0105 a-kako orikuma yuohara gitter-badger robograffitti 130s bigjun ban-masa kozuki knorth55 huangxliang mmurooka snozawa k-kimura pazeshun 708yamaguchi xiobama12 affonso-gui koga-yu dyson8910 ttklm20 takayuki5168 m-onitsuka yutouchimi sshige ishigurojsk wh-0501 iory taichih gary-robotics sktometometo leechangyo erichu92 hiroishida yoshiaabe kanazawanaoaki mqcmd196 kosuke55 annan-tang ys-kid yuki-shark michilaszlo ayfujii softyanija naoki-hiraoka haraduka pandinosaurus kennethyangle tongtybj russ76 ykawamura96 tkmtnt7000 ros-robot-series shmpwk yuki-asano ayfujii-aist nakaotatsuya masaaki-sugiyama ssk-yoshimura yukina-3252 a-ichikura poyotamu000 yutakojio graziegrazie v1kb4t nakane11 20niship ojh6404 alimteach aodongdong fsie-yggroup

jsk_robot's Issues

topic_tools/throttle is heavy

throttleがkinectの点群のようなでかいメッセージに対して使うと重くなってしまう。
これがc1の処理を結構重くしている

baxter.yamlがeuscolladaではなく、baxtereusにある

のは何か理由があるのでしょうか？

Asking for a pull request for nao_wheel.py

Hi,
We're trying to $roslaunch jsk_pepper_startup jsk_pepper_startup.launch and we've already written the missing nao_wheel.launch like

<launch>
  <!--
        This pushes the local PYTHONPATH into the launch file, so that the NaoQI API is found.
    You need to add the Nao's API dir to your PYTHONPATH so that the modules are found.
  -->
  <env name="PYTHONPATH" value="$(env PYTHONPATH)" />

  <arg name="nao_ip" default="$(optenv NAO_IP 127.0.0.1)" />
  <arg name="nao_port" default="$(optenv NAO_PORT 9559)" />

  <node pkg="nao_apps" type="nao_wheel.py" name="nao_wheel" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_p\
ort)"  />
</launch>

Before sending pull request for this launch file to nao_apps, we checked whether it works well or not,
but we think we found another missing file (nao_wheel.py) according to the messages bellow;

leus@mirai1:~/Downloads$ roslaunch nao_apps nao_wheel.launch 
... logging to /home/leus/.ros/log/6f3136f8-8be1-11e4-9817-d050992f09ea/roslaunch-mirai1-16552.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.

started roslaunch server http://mirai1:43657/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    nao_wheel (nao_apps/nao_wheel.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
ERROR: cannot launch node of type [nao_apps/nao_wheel.py]: can't locate node [nao_wheel.py] in package [nao_apps]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

We'll be grateful to anyone who would kindly send a pull request for nao_wheel.py.
Thank you.

add a script to show time to charge and remaining battery time

we need to be more careful about battery life according to the last week demonstration...

cc @tarukosu @furushchev

Make the tilt_scan processing chain cleaner.

Now, as far as I searched, I think the tilt_scan processing is below.

I think we can change below things?

delete /scan_to_cloud_filter_chain_tilt_laser (What is /tilt_scan_shadow2_filter?)
delete /tilt_scan_assembler
remove /tilt_scan from /move_base_node input or remove /ground_objectcloud_mux from /move_base_node input
remove /sac_ground_removal because move_base_node will automatically remove with min_obstacle_height or max_obstacle_height

I know the best way to decide what to do is to try on real robot, but before that, are there any idea?

PR2の LaserScanIntensityFilter をなくす

package://jsk_pr2_startup/jsk_pr2_sensors/lasers_and_filters.xml

で立ち上がる /tilt_shadow_filter で
LaserScanIntensityFilter
が使われているが，gazebo の出すセンサデータはIntensityの値が大きすぎるため，すべてフィルタリングされてしまう．

また，実機では/base_scan にはIntensityに値が入っていない．

そのため，
LaserScanIntensityFilter
を取り除きたいのですが，よろしいでしょうか？

ペッパーとナオが使うメッセージのパッケージについて

同じところは、一つのプログラムでナオとペッパー両方動いたら嬉しいため、

add tweet.l, see jsk_nao_startup.launch for example #174 のようにして、
ペッパーくんのサンプルプログラムで、英語しか話せないナオと日本語しか話せないペッパーの時でうまく切り替えたいです。

今日はlaunchファイルの実行でうまくいきませんでした。
関係ないかもしれませんが、ごちゃごちゃになってしまったので、もしよろしければご教示ください。

ペッパーの環境では今nao_msgsを使っているのでしょうか。
ナオ専用PCと同じようなメッセージのパッケージを使うように変えたいのですが、どうすればよいのでしょうか。
（私の手元のパソコン環境もナオ専用PCと異なっていると思うので、それも直したいです。）

初歩的だと思うのですが、よろしくお願い致します。

eusでgazebo上のbaxterが動かせない

以下のようなエラーがでて、eusでgazebo上のbaxterを動かすことができません。(eusのシミュレーション環境上では動きます)

irteusgl$ send *ri* :angle-vector (send *baxter* :angle-vector) 3000
[ERROR] [1417047288.701884295, 107.166000000]: attempted to publish to topic /robot/joint_states, which was not previously advertised. call (ros::adver\
tise "/robot/joint_states") first.
[ERROR] [1417047288.702389626, 107.166000000]: attempted to publish to topic /robot/joint_states, which was not previously advertised. call (ros::adver\
tise "/robot/joint_states") first.
[ERROR] [1417047288.703047636, 107.167000000]: attempted to publish to topic /robot/joint_states, which was not previously advertised. call (ros::adver\
tise "/robot/joint_states") first.
[ERROR] [1417047288.703580330, 107.167000000]: attempted to publish to topic /robot/joint_states, which was not previously advertised. call (ros::adver\
tise "/robot/joint_states") first.
[ERROR] [1417047288.704131416, 107.167000000]: attempted to publish to topic /robot/joint_states, which was not previously advertised. call (ros::adver\
tise "/robot/joint_states") first.
...

baxtereus/baxter-interface.lを以下のように変更すると、gazebo上で動くようになりましたが(実機でも)、eusのシミュレーション上で動かなくなりました。

diff --git a/jsk_baxter_robot/baxtereus/baxter-interface.l b/jsk_baxter_robot/baxtereus/baxter-interface.l
index eacc7b5..9fe1523 100644
--- a/jsk_baxter_robot/baxtereus/baxter-interface.l
+++ b/jsk_baxter_robot/baxtereus/baxter-interface.l
@@ -30,7 +30,7 @@

      (dolist (action (list right-gripper-action left-gripper-action))
        (unless (and joint-action-enable (send action :wait-for-server 3))
-        (setq joint-action-enable nil)
+        ; (setq joint-action-enable nil)
         (ros::ros-warn "~A is not respond, baxter-interface is disabled" action)
         (return)))

環境によってjoint-action-enableの値を変えるようにするとよいのでしょうか。

baxterでeusからjoint-angleを送るとheadにぶつかる軌道を通るときがある

のですが、対処する方法はありますでしょうか？

ペッパーのサーボオンについて

http://doc.aldebaran.com/2-1/naoqi/motion/control-stiffness.html
によると、
ナオで使えていたsetStiffnessesという関数がペッパーでは使えないようです。
代わりに
wakeUp, restを使う必要があります。
実機で確かにそうであることを確認しました。

今後、pepper-interface.lのようなものが作れられるとしたら、
サーボオンに関しては、nao-interface.lのメソッドを書き換える必要があるかもしれません。（なかったらごめんなさい）

sac_inc_ground_removal_nodeが床面にある点群を消してくれない問題

数週間前にメールで回した問題だが、今日色々試してみてやはり解決できなかったのでdebug noteとしてissueを作ります。

上が元の問題だが、ground_plane.xmlのパラメーターを変えてみてやはり変化がなくて、そもそもpr2_pointcloud_error_visualizationをtilt_scanの点群を見てもそこになにか出っ張っているわけでもないので、パラメーターとは関係なさそうという感じでした。
ros_answerに似たような問題があったが同じようにやってみてもやはりダメでした。

ソースコードをちらっと読んでみたが、今見たところtilt_scanが床面に非常に近づいて下の赤色のようになる時だけ変なground_objectが表示されるので、もしかして平面（tilt_scanの場合は直線？)の主成分分析のところで引っかかっていないかとも思いました。

またjsk_pr2_startupのlasers_and_filters.xmlはpr2_navigation_perceptionの中のやつと違って下に向くtilt_scanだで切り出しているようだが、もし上のプログラムは何回かscanをまとめて平面検出するようなことをしていたら、そのせいで境界のところで誤検出することはありえないですか

fail to launch start_pr2_moveit.launch

fail to launch start_pr2_moveit.launch because package://jsk_pr2_moveit/sensors.yaml does not exist.

roslaunch jsk_pr2_startup start_pr2_moveit.launch

related to #101

use safe_telop_base of SharedAutonomyToolkit

https://github.com/SharedAutonomyToolkit のものに移行したつもりだったけどできていなかったので
移行する.

依存するのはsafe_teleop_base

Inappropriate description in jsk_pepper_robot/README.md

Hi, I think I found a mistake in jsk_pepper_robot/README.md.

The 2nd line in

setup environment

mkdir -p catkin_ws/src
cd  catkin_ws/src

should be modified to

setup environment

mkdir -p catkin_ws/src
cd  catkin_ws

The original description ends up making ~/catkin_ws/src/src directory.

Can I make pull-request about this?

error when roslaunch jsk_pr2_startup pr2.launch

does this happens to another pr2? I've checked this on pr1012

set ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /home/applications/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus

;; extending gcstack 0x53d5420[16374] --> 0x580af90[32748] top=3767
;; loading roseus("a61b3d2") on euslisp((9.00 pr1012 Wed Apr 16 19:26:29 PDT 2014 fcc6e04 b346484))
set ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /home/applications/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus

;; extending gcstack 0x4842420[16374] --> 0x4c77f90[32748] top=3767
;; loading roseus("a61b3d2") on euslisp((9.00 pr1012 Wed Apr 16 19:26:29 PDT 2014 fcc6e04 b346484))
[ERROR] [1398157449.859252380]: Could not find /home/applications/.ros/roseus/groovy/object_snapshotter/manifest.l
try rosrun roseus generate-all-msg-srv.sh object_snapshotter

;; extending gcstack 0x4c77f90[32738] --> 0x5f8c550[65476] top=7fe1
;; counldn't find pacakge [euslib]

;; extending gcstack 0x580af90[32738] --> 0x6a826a0[65476] top=7f31
/home/applications/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bin/irteusgl roseus-error:  file #P"/home/applications/ros/groovy/jsk-ros-pkg/jsk_smart_apps/jsk_smart_gui/lib/eusimage_geometry.so" not found in (apply #'ros::load-org-for-ros fname args), exitting...
set ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /home/applications/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus

;; extending gcstack 0x600f420[16374] --> 0x6444f90[32748] top=3767
;; loading roseus("a61b3d2") on euslisp((9.00 pr1012 Wed Apr 16 19:26:29 PDT 2014 fcc6e04 b346484))
[ERROR] [1398157490.317952678]: Could not find /home/applications/.ros/roseus/groovy/object_snapshotter/manifest.l
try rosrun roseus generate-all-msg-srv.sh object_snapshotter
;; counldn't find pacakge [euslib]

;; extending gcstack 0x6444f90[32738] --> 0x76bcd40[65476] top=7f31
/home/applications/ros
[c2-0]: [tablet_receiver_default-34] process has died [pid 4374, exit code 1, cmd /home/applications/ros/groovy/jsk-ros-pkg/jsk_smart_apps/jsk_smart_gui/src/tablet_receiver.l (execute-main) __name:=tablet_receiver_default __log:=/home/applications/.ros/log/77ef7446-c9fc-11e3-ab51-001517c3b779/tablet_receiver_default-34.log].
log file: /home/applications/.ros/log/77ef7446-c9fc-11e3-ab51-001517c3b779/tablet_receiver_default-34*.log
respawning...

pr1040とpr1012で頭のあたりのframeが違う

head_moutnt_kinect_frameがあったりなかったりする

キャリブレーションとの関係もあり

About PR2 tilt self filter behavior

/tilt_scan_shadow_filter (topic) -> /tilt_laser_self_filter (node) ->/tilt_scan_filtered (topic)

In this flow, I expected that the /tilt_laser_sefl_filter just filter the self filter, it actually works for self filter, but it seems to filter remote or higher point clouds too. How can I change this behavior? from parmas?

Odded-numbered image is tilt_scan_shadow_filter and
evened-numbered image is tilt_scan_filtered.

About baxter_moveit_config package

Now I try to use the baxter_moveit_config package which is from https://github.com/ros-planning/moveit_robots .

But I need to modify some files in this package for our local reasons.
For examples, the openni's camera namespace is "openni" which is "camera" in this package and the position between openni and baxter torso should be rewriten for ours.

Many parts of this package should be customized and those should be common in our environment, so I want to copy and place this package under the jsk_baxter_robot. Is that OK?

Why are the safe_telop.xml 's extension is xml?

I think it should be launch.
Is there any reason to keep this name as xml?

jsk_pepper_robot/jsk_pepper_startup/sample/sample.lをナオで試す

ペッパーくんのサンプルコードをナオでも試してみました。
ほとんど動きましたが、ちょっと違うところ、うまくいかなかったところについて書かせていただきます。
ペッパーくんにsshできたら自分で確認すべきことも書きました。

＜疑問が残るもの＞
１．nao_msgsについて
自分の環境の問題なのですが、自分のnao_msgsにGetInstalledBehaviorsRequestというサービスがありません。
私の環境ではroscd nao_msgsでoptに飛んで、
kochigami@kochigami-ThinkPad-T440p:/opt/ros/hydro/share/nao_msgs/srv $ ls
CmdPoseService.srv GetInstalledBehaviors.srv SetArmsEnabled.srv
CmdVelService.srv GetTruepose.srv SetTransform.srv
~/naoqi_bridge/naoqi_msgs/srvでも同じ内容
となります。ペッパーくんではどうなっているのか確認したいです。

このため、会話最後の”うふふ”の後の行動生成がうまくいかず、今はエラーが出て終わります。

２．jsk_pepper_startup.launchについて
今回は自分で必要なノードを立ち上げるlaunchファイルを書いてナオを動かしました。
jsk_pepper_startup.launchの冒頭では、
　~/nao_bringup/nao.launchを読み込むことで、カメラ以外のノードを立ち上げているのかな、と思います。（これもsshして確認する必要があります。）
今のros-naoqiのパッケージでは、顔認識、音声認識、imuのノードは３つバラバラになっていますので、ペッパーくんのlaunchファイルではどうなっているのか見てみたいです。

＜音声認識＞
日本語発話・認識ができないため英語で行いました。（こんにちは→helloなど）
認識できる言葉は一発でできます。（できないのは、自分の発音の悪さのせいかもしれないです　robotとか, areとか, iとか）精度は高いと思います。

＜twitterについて＞
まだナオではできていません。

Could Baxer eus model have the attached kinect links?

I don't need the kinect link at the present, but just I wonder could the baxter eus model have the links ?

Baxter kinect may change that pos, is it able to create the kinect eus link or kinect eus model?

baxter以外のロボットにも(send ri :nod)なる関数を用意する

from @garaemon 's suggestion at #165

[baxtereus gripper action server] send-all clients :wait-for-resultで止まる

#160 で　send *ri* :start-grasp :rarmやsend *ri* :start-grasp :larmはsend-all clients :wait-for-resultで停止することなくresultを得られるのですが、

send *ri* :start-grasp :armsではwait-for-resultで止まってしまいます。
ただ、どの場合も/robot/end_effector/right_gripper/gripper_action/resultに結果がpublishされまた、両手とも閉じるまた開くことができています。

send ri :start-grasp :armsのときresultとしてpublishされているのが以下２つです。

rostopic echo /robot/end_effector/right_gripper/gripper_action/result 
header: 
  seq: 24
  stamp: 
    secs: 1416724263
    nsecs: 105612993
  frame_id: ''
status: 
  goal_id: 
    stamp: 
      secs: 1416724262
      nsecs: 704134941
    id: /default_robot_interface_1416723161229783431_32573_robot/end_effector/right_gripper/gripper_action_11
  status: 3
  text: ''
result: 
  position: 3.210272789
  effort: 0.0
  stalled: False
  reached_goal: True

rostopic echo /robot/end_effector/left_gripper/gripper_action/result
header: 
  seq: 12
  stamp: 
    secs: 1416724263
    nsecs: 141411066
  frame_id: ''
status: 
  goal_id: 
    stamp: 
      secs: 1416724262
      nsecs: 704330921
    id: /default_robot_interface_1416723161229783431_32573_robot/end_effector/left_gripper/gripper_action_2
  status: 3
  text: ''
result: 
  position: 3.0448718071
  effort: 0.0
  stalled: False
  reached_goal: True

send *ri* :start-grasp :rarmとしたときは、roseusのdebugモードでは以下が表示されます。

2.irteusgl$ end *ri* :start-grasp :rarm
[ INFO] [1416724947.004200324]: send-goal to #<ros::simple-action-client #Xa7aa3d8 robot/end_effector/right_gripper/gripper_action>
[DEBUG] [1416724947.004378690]: [robot/end_effector/right_gripper/gripper_action] send-goal /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[ INFO] [1416724947.004463189]: wait
[DEBUG] [1416724947.004527459]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0, timeout=0
[DEBUG] [1416724947.004555336]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724947.004655471]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.004713233]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.005954464]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.006036189]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.006076673]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.006170626]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.006213649]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.006261594]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.006344169]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.006389015]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.008479346]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.008529852]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.008573130]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.008624428]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.008667605]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:nil
[DEBUG] [1416724947.104654725]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724947.104827091]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.104867636]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.104901803]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.104953664]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.105052123]: [robot/end_effector/right_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #X9b41180>
    (ros::*comm-state-waiting-for-ack* -> ros::*comm-state-active*)
    by status:actionlib_msgs::goalstatus::*active* goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.105121025]: [robot/end_effector/right_gripper/gripper_action] status-cb  (seq:13342 (id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*active*))
[DEBUG] [1416724947.105261586]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #X9b47be0>
[DEBUG] [1416724947.105371179]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #X9b3d940>
[DEBUG] [1416724947.105483903]: [robot/end_effector/right_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 actionlib_msgs::goalstatus::*succeeded*
[DEBUG] [1416724947.105526586]: [robot/end_effector/right_gripper/gripper_action] update-result goal id: /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 ros::*comm-state-active*
[DEBUG] [1416724947.105575803]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.105649256]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.105724223]: [robot/end_effector/right_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #X9b54ce8>
    (ros::*comm-state-active* -> ros::*comm-state-waiting-for-result*)
    by status:actionlib_msgs::goalstatus::*succeeded* goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.105783890]: [robot/end_effector/right_gripper/gripper_action] update-result state: /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 ros::*comm-state-done*
[DEBUG] [1416724947.105820940]: [robot/end_effector/right_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 -> state ros::*comm-state-done*
[DEBUG] [1416724947.105873461]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.105906789]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.105964570]: [robot/end_effector/right_gripper/gripper_action] status-cb  (seq:29 (id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724947.106060872]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.106100170]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.106154358]: [robot/end_effector/right_gripper/gripper_action] status-cb  (seq:13343 (id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724947.106284878]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0
[DEBUG] [1416724947.106314295]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0 t
[DEBUG] [1416724947.106367075]: [robot/end_effector/right_gripper/gripper_action] status-cb  (seq:13344 (id:/default_robot_interface_1416724940010382551_1448_robot/end_effector/right_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724947.204657221]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-done* ros::*comm-state-done*
[DEBUG] [1416724947.204733184]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result finished actionlib_msgs::goalstatus::*succeeded*
[ INFO] [1416724947.204795616]: push !
(#<control_msgs::grippercommandresult #X9b44208>)

send *ri* :start-grasp :arms以下が表示され、最後の部分がその後も続きます。
roseusをdebugモードにしたときの表示

[ INFO] [1416724578.730361655]: send-goal to #<ros::simple-action-client #Xad1df70 robot/end_effector/right_gripper/gripper_action>
[DEBUG] [1416724578.730547696]: [robot/end_effector/right_gripper/gripper_action] send-goal /default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0
[ INFO] [1416724578.730651651]: send-goal to #<ros::simple-action-client #Xad1d520 robot/end_effector/left_gripper/gripper_action>
[DEBUG] [1416724578.730766999]: [robot/end_effector/left_gripper/gripper_action] send-goal /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[ INFO] [1416724578.730817530]: wait
[DEBUG] [1416724578.730863700]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result /default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0, timeout=0
[DEBUG] [1416724578.730881851]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724578.730951824]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0

[DEBUG] [1416724578.733743969]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.733788854]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.733829845]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.735217021]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0

[DEBUG] [1416724578.735995561]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.830988560]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724578.831137116]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.831206611]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724578.831254065]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.831280180]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724578.831316504]: [robot/end_effector/left_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #Xa1a7030>
    (ros::*comm-state-waiting-for-ack* -> ros::*comm-state-active*)
    by status:actionlib_msgs::goalstatus::*active* goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.831360106]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11521 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*active*))
[DEBUG] [1416724578.831460354]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.831487965]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724578.831573308]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa1dbad0>
[DEBUG] [1416724578.831637998]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa1fc128>
[DEBUG] [1416724578.831712814]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa1fd340>
[DEBUG] [1416724578.831829445]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa216be8>
[DEBUG] [1416724578.831948409]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.831988679]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724578.832022048]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.832049229]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724578.832082073]: [robot/end_effector/left_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #Xa22a720>
    (ros::*comm-state-active* -> ros::*comm-state-no-transition*)
    by status:actionlib_msgs::goalstatus::*active* goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.832121415]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11522 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*active*))
[DEBUG] [1416724578.832205809]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa23aa60>
[DEBUG] [1416724578.832268930]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa266390>
[DEBUG] [1416724578.931024736]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724578.931195920]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa254728>
[DEBUG] [1416724578.931291466]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa271c30>
[DEBUG] [1416724578.931417609]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724578.931463269]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724578.931539116]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa2af8c8>
[DEBUG] [1416724578.931607414]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa2924f8>
[DEBUG] [1416724579.030982153]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.031159662]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa2c91e8>
[DEBUG] [1416724579.031262525]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa2d9570>
[DEBUG] [1416724579.031338295]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.031386226]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.031417361]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.031467058]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.031495374]: [robot/end_effector/left_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #Xa2fb9f8>
    (ros::*comm-state-active* -> ros::*comm-state-no-transition*)
    by status:actionlib_msgs::goalstatus::*active* goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.031535966]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11523 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*active*))
[DEBUG] [1416724579.031646074]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa317238>
[DEBUG] [1416724579.031714842]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa331578>
[DEBUG] [1416724579.131019461]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.131223382]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa3322b0>
[DEBUG] [1416724579.131344343]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa349ba8>
[DEBUG] [1416724579.131457099]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.131501320]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.131571791]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa37cf40>
[DEBUG] [1416724579.131679042]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa37d5e8>
[DEBUG] [1416724579.230974922]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.231187401]: [robot/end_effector/right_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa39add8>
[DEBUG] [1416724579.231348977]: [robot/end_effector/right_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 actionlib_msgs::goalstatus::*succeeded*
[DEBUG] [1416724579.231443186]: [robot/end_effector/right_gripper/gripper_action] invalid goal id: /default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
           msg :#<control_msgs::grippercommandactionresult #Xa3b5868>
    action-goal:#<control_msgs::grippercommandactiongoal #X9f89cd0>
[DEBUG] [1416724579.231492419]: [robot/end_effector/right_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 -> state ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.231528248]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.231561559]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.231717466]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.231785008]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.231908795]: [robot/end_effector/left_gripper/gripper_action] feedback-cb #<control_msgs::grippercommandactionfeedback #Xa3dd890>
[DEBUG] [1416724579.232016943]: [robot/end_effector/left_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 actionlib_msgs::goalstatus::*succeeded*
[DEBUG] [1416724579.232045852]: [robot/end_effector/left_gripper/gripper_action] update-result goal id: /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 ros::*comm-state-active*
[DEBUG] [1416724579.232073088]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.232108588]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.232137379]: [robot/end_effector/left_gripper/gripper_action] COMM-STATE #<actionlib_msgs::goalstatus #Xa40adf8>
    (ros::*comm-state-active* -> ros::*comm-state-waiting-for-result*)
    by status:actionlib_msgs::goalstatus::*succeeded* goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.232160733]: [robot/end_effector/left_gripper/gripper_action] update-result state: /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 ros::*comm-state-done*
[DEBUG] [1416724579.232183628]: [robot/end_effector/left_gripper/gripper_action] reuslt-cb /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 -> state ros::*comm-state-done*
[DEBUG] [1416724579.232213360]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.232236439]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.232272117]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:16 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.232357989]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.232391138]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.232417559]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11524 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.232510446]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.232535501]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.232560791]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11525 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.330996856]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.331311284]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.331386657]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.430987296]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.431187710]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.431237750]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.431293396]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11526 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.531000966]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.531264987]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.531315244]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.630984015]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.631154387]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.631197265]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.631273743]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11527 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.730984978]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.731124522]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.731163102]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724579.830972782]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.831122605]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.831161809]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724579.831195013]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11528 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724579.930975944]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724579.931152636]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724579.931191372]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724580.030990541]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724580.031192876]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724580.031251117]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724581.430980677]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724581.431206226]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724581.431249150]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724581.431317211]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11536 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724581.530994523]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724581.531242582]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724581.531296298]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724581.630990811]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724581.631183038]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724581.631226324]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724581.631264119]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11537 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724581.730987702]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724581.731176530]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724581.731230713]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724581.831003578]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724581.831221016]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724581.831277642]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t

[DEBUG] [1416724584.030982891]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.031174221]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724584.031238152]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 t
[DEBUG] [1416724584.031297920]: [robot/end_effector/left_gripper/gripper_action] status-cb  (seq:11549 (id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0, status:actionlib_msgs::goalstatus::*succeeded*))
[DEBUG] [1416724584.130972683]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.131161015]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724584.131201412]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id goal_id:/default_robot_interface_1416724568127279127_1233_robot/end_effector/right_gripper/gripper_action_0 == /default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0 nil
[DEBUG] [1416724584.230998688]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.231162475]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724584.330986549]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.331133200]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724584.431013832]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.431152947]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724584.530989942]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724584.531115296]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724585.630988185]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724585.631119996]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724585.730982810]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724585.731110610]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724585.830982994]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724585.831123824]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724585.930985257]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724585.931116684]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724586.030978769]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724586.031096514]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724586.131010919]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724586.131160750]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724586.230980859]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724586.231163214]: [robot/end_effector/left_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0
[DEBUG] [1416724586.330989833]: [robot/end_effector/right_gripper/gripper_action] :wait-for-result ros::*simple-goal-state-pending* ros::*comm-state-waiting-for-ack*
[DEBUG] [1416724586.331120320]: [robot/end_effector/right_gripper/gripper_action] find-status-by-goal-id action-goal:/default_robot_interface_1416724568127279127_1233_robot/end_effector/left_gripper/gripper_action_0

how to setup app manager OR do we still need app_manager.patch?

from jsk-ros-pkg/jsk_common#297 (comment)

we need to investigate if we still need this patch
https://github.com/jsk-ros-pkg/jsk_common/blob/master/jsk_ros_patch/pr2_groovy_patches/patches/app_manager.patch

@aginika please check on our pr2, and last student who setup app_manager is @iory so please discuss with him http://wiki.ros.org/rtmros_nextage/Tutorials/Setup%20ROCON%20App%20Manager

baxter twitterのactive timeのカウントが違う

baxter twitterが１０分米にしゃべっていますが，これは時刻的に１０分ではなくて，
ロボットが動いている時間が１０分で，その動いているというのはPR2だと
移動距離と手の関節の移動量がある程度大きい場合，みたいにしていたとおもいます．
ちゃんと使っていると，反応する，というのがいいとおもいます．

https://github.com/jsk-ros-pkg/jsk_robot/blob/34fda240ba94ee6c71a5996d8d71a241c70af8e8/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/active_user.l

jsk_robot/jsk_pr2_startup/jsk_pr2_lifelog/tweet_client.l

Line 110 in fb3ee35

(do-until-key

baxterのグリッパがpr2と比べて90度回転している。

oneclickを試すと毎回想定したハンド姿勢をwrist-r が90度回転した形になってしまいます。
baxter.yamlには以下のように書かれているのですが、
どう対処するのがよろしいのでしょうか？

larm-end-coords:
  parent : left_hand
  translate : [0, 0, 0.10]
  rotate : [ 0.57735, -0.57735,  0.57735, 30]
rarm-end-coords:
  parent : right_hand
  translate : [0, 0, 0.10]
  rotate : [-0.57735, -0.57735, -0.57735, 120]

Segmentation fault when unloading nodelet

Openni nodelet manager is killed by segmentation fault when type this command and kill (C-c).

$ roslaunch jsk_pr2_startup pr2_image_transport.launch

(gdb) bt
#0  0x0000000000b57190 in ?? ()
#1  0x00007ffff6e33dfe in ros::TimerManager<ros::WallTime, ros::WallDuration, ros::WallTimerEvent>::threadFunc() () from /opt/ros/groovy/lib/libroscpp.so
#2  0x00007ffff5c70ce9 in thread_proxy ()
   from /usr/lib/libboost_thread.so.1.46.1
#3  0x00007ffff7109e9a in start_thread ()
   from /lib/x86_64-linux-gnu/libpthread.so.0
#4  0x00007ffff61753fd in clone () from /lib/x86_64-linux-gnu/libc.so.6
#5  0x0000000000000000 in ?? ()

PR2のmove_baseがガタガタする

負荷が高いのとは他の理由なきがする
costmapの更新に時間がかかっている模様。よく調べる必要あり

mjpeg_server is heavy

mjpeg_serverが重いという問題がありました。

こちらで対応しました。https://github.com/garaemon/mjpeg_server

もう少し動作確認したらPRを投げておきます

infinite symbolic link generation on jsk_baxer_web

symbolic linkを無限に作ってしまう

execute_process(COMMAND ln -s ${baxter_description_PACKAGE_PATH}  ${PROJECT_SOURCE_DIR}/www/baxter_description OUTPUT_VARIABLE OUTPUT OUTPUT_STRIP_TRAILING_WHITESPACE)

jsk_pepper_startup.launchで、書かれていないはずのnao_driverが立ち上がります

ペッパー専用PCでjsk_pepper_startup.launchを実行すると、ros-naoqiのパッケージではなく、何故かlaunchファイルには書かれていないnao_driver（/opt以下にあります）の方が実行されてしまいます。
これは正しい状態なのでしょうか・・・。ご存知の方がもしいらっしゃればご教示ください。
git pull origin masterしてしまったためなのかなとも思います。

（だぶっていると怒られるため、nao_speech/launch (音声認識のために必要なlaunchファイルは書かれていません。)）
/nao_speechの古いものが上がるためなのか、音声認識ができません。

以下を行うと音声認識が行えました。

ペッパーを再起動
roslaunch jsk_pepepr_startup jsk_pepper_startup.launch
rosnode kill /nao_speech
rolaunch nao_apps nao_speech.launch

jsk_pepper_startup.launch実行時に立ち上がるノードは以下です。nao_のつくものは全ておかしいです。launchファイルの中で関係ありそうなnao_bringupはcatkin_makeしたのですが変わりませんでした。

NODES
  /depth/
    camera (naoqi_sensors/camera.py)
  /top/
    camera (naoqi_sensors/camera.py)
  /
    base_footprint (nao_description/base_footprint)
    cmd_vel_relay (topic_tools/relay)
    dashboard (nao_dashboard/nao_dashboard)
    diag_agg (diagnostic_aggregator/aggregator_node)
    image_saver (image_view/image_saver)
    nao_behaviors (nao_driver/nao_behaviors.py)
    nao_controller (nao_driver/nao_controller.py)
    nao_diagnostic_updater (nao_driver/nao_diagnostic_updater.py)
    nao_leds (nao_driver/nao_leds.py)
    nao_logger (nao_driver/nao_logger.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_speech (nao_driver/nao_speech.py)
    nao_tactile (nao_driver/nao_tactile.py)
    nao_vision (nao_vision/nao_vision.py)
    nao_walker (nao_driver/nao_walker.py)
    pepper_twitter (jsk_pepper_startup/tweet.l)
    pose_controller (nao_pose/pose_controller.py)
    pose_manager (nao_pose/pose_manager.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_joy (joy/joy_node)
    turtlebot_teleop_joystick (turtlebot_teleop/turtlebot_teleop_joy)
    tweet (rostwitter/tweet.py)
  /bottom/
    camera (naoqi_sensors/camera.py)
``
古い/nao_speechで音声認識するとこのようなエラーが出ます。明日また考えます。`

[ERROR] [WallTime: 1417876209.662130] Error processing request: ALSpeechRecognition::setVocabulary
Call argument number 0 conversion failure from Value to Unknown. Function signature: (List,Bool).
['Traceback (most recent call last):\n', ' File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 623, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/opt/ros/hydro/lib/nao_driver/nao_speech.py", line 370, in start\n self.conf )\n', ' File "/opt/ros/hydro/lib/nao_driver/nao_speech.py", line 434, in init\n self.reconfigure(config)\n', ' File "/opt/ros/hydro/lib/nao_driver/nao_speech.py", line 457, in reconfigure\n config["word_spotting"] )\n', ' File "/home/nao/pynaoqi/naoqi.py", line 301, in call\n return self.wrapped.method_missing(self.method, _args, *_kwargs)\n', ' File "/home/nao/pynaoqi/naoqi.py", line 371, in method_missing\n raise e\n', 'RuntimeError: \tALSpeechRecognition::setVocabulary\n\tCall argument number 0 conversion failure from Value to Unknown. Function signature: (List,Bool).\n']

jsk_pepper_robot/jsk_pepper_startup/sample/sample.lをペッパーで試す

ペッパーくんのサンプルコードを動かしてみたのですが、ナオで試した時と違い、音声認識をやらずにプログラムが止まってしまいました。（１０回以上試して、全てこの結果になりました。）

顔認識をしてペッパーが話している間に音声認識が走り、一瞬で終わってしまっているようです。

/stop_recognitionのサービスを呼ぶところでエラーが起きているようで、
２〜３回ほど　jsk_pepper_startup.launchを上げている端末で

[WARN] [WallTime: 1416920570.727185] Speech recognition already started. Restarting.

というのがまず出て、

[ERROR] [WallTime: 1416908039.407949] Error processing request: close
['Traceback (most recent call last):\n', ' File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 623, in handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/nao/catkin_ws/src/nao_robot/nao_apps/nodes/nao_speech.py", line 363, in start\n self.srw.close()\n', ' File "/home/nao/pynaoqi/inaoqi.py", line 219, in \n __getattr_ = lambda self, name: _swig_getattr(self, module, name)\n', ' File "/home/nao/pynaoqi/inaoqi.py", line 55, in _swig_getattr\n raise AttributeError(name)\n', 'AttributeError: close\n']

というエラーが出ました。

rostopic echo /nao_speech/parameter_updates

をすると、

strs: 
  - 
    name: language
    value: Japanese
  - 
    name: vocabulary
    value: こんにちは / さようなら / Pepper / あれ / ぼく / げんき / ろぼっと / しんぼう
  - 
    name: voice
    value: maki_n16

となっているので、言葉の登録はできています。

実行時の画面についても書きます。

1.irteusgl$ demo1
[ INFO] [1416902364.072500476]: wait for face_detection/enable
[ERROR] [1416902364.268371194]: Service call failed: service [/nao_vision/face_detecti\
on/enable] responded with an error: service cannot process request: service handler re\
turned None
[ERROR] [1416902364.268498025]: attempted to call service /nao_vision/face_detection/\
enable, but failed
[ INFO] [1416902364.279458148]: Detecting.... nil
[ INFO] [1416902364.777320551]: imu #f(0.022211 -0.026847 0.999393) 0.999393
[ INFO] [1416902364.777727586]: Detecting.... nil
[ INFO] [1416902365.277518306]: imu #f(0.02156 -0.027763 0.999382) 0.999382
[ INFO] [1416902365.277957957]: Detecting.... nil
[ INFO] [1416902365.779276526]: imu #f(0.022039 -0.026637 0.999402) 0.999402
[ INFO] [1416902365.785049816]: Detecting.... nil
（省略）
[ INFO] [1416902387.282910962]: imu #f(0.013057 -0.026445 0.999565) 0.999565
[ INFO] [1416902387.283442035]: Detecting.... nil
[ INFO] [1416902387.782963937]: imu #f(0.012097 -0.026554 0.999574) 0.999574
[ INFO] [1416902387.785415366]: Detected 4 (0.757)
[ INFO] [1416902387.785533398]: Detecting.... nil
[ INFO] [1416902388.286589572]: wait for face_detection/disable
[ERROR] [1416902388.320630074]: Service call failed: service [/nao_vision/face_detection/disable] responded with an error: service cannot process request: service handler returned None
[ERROR] [1416902388.320866976]: attempted to call service /nao_vision/face_detection/disable, but failed
[ INFO] [1416902388.321373465]: speech ???????????????
[ INFO] [1416902388.326761371]: wait for nao_speech/set_parameters
[ INFO] [1416902390.570041819]: wait for start_recognition
[ERROR] [1416902390.583148234]: Service call failed: service [/start_recognition] responded with an error: error processing request: close
[ERROR] [1416902390.583258304]: attempted to call service /start_recognition, but failed
[ INFO] [1416902390.592130382]: imu #f(0.013686 -0.026095 0.999566) 0.999566
[ INFO] [1416902390.595224909]: Recognizing.... ??????????????? / ??????????????? / Pepper / ?????? / ?????? / ????????? / ???????????? / ????????????
[ INFO] [1416902391.092385896]: imu #f(0.011167 -0.026651 0.999582) 0.999582
[ INFO] [1416902391.092905585]: Recognizing.... ??????????????? / ??????????????? / Pepper / ?????? / ?????? / ????????? / ???????????? / ????????????
[ INFO] [1416902391.593309931]: imu #f(0.0127 -0.026585 0.999566) 0.999566
[ INFO] [1416902391.593911265]: Recognizing.... ??????????????? / ??????????????? / Pepper / ?????? / ?????? / ????????? / ???????????? / ????????????
[ INFO] [1416902392.093267084]: imu #f(0.01258 -0.025617 0.999593) 0.999593
[ INFO] [1416902392.094125852]: Recognized (??????) (#f(0.3018))
[ INFO] [1416902392.094740455]: Recognizing.... ??????????????? / ??????????????? / Pepper / ?????? / ?????? / ????????? / ???????????? / ????????????
[ INFO] [1416902392.595660859]: wait for stop_recognition
[ INFO] [1416902392.599730720]: waitForService: Service [/stop_recognition] has not been advertised, waiting...

ここでずっと止まります。

jsk_pr2_startup depends on jsk_maps

jsk_pr2_startup and jsk_map are in intermediate dependency over repository

Why is Baxter model standing in ground?

Why is the baxter model a little bit in underground when I execute below commands?

Is there any meaning to set like that?

I expect the baxter stand on ground like as pr2.

roseus baxter-interface.l
(baxter-init)
(objects (list *baxter*))
(send (make-coords) :draw-on :flush t :size 1000)

need to check if we still need safe_teleop_base.patch

safe_teleop is now installed from https://github.com/SharedAutonomyToolkit/shared_autonomy_manipulation/tree/master/safe_teleop_base. Do we use this package? if not please check this and check if we can remove https://github.com/jsk-ros-pkg/jsk_common/blob/master/jsk_ros_patch/pr2_groovy_patches/patches/safe_teleop_base.patch

fixchange-inflation-range for hydro

https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/pr2-interface.l#L787 may not working due to namespace update, so we need to update.
Also default value 0.55 may be too large, and 0.2 is too small? find better one.

naoeusが最新の環境で動きません

私のソースはずっとgit pull していないのでhydroで動かせるのですが、他の皆は新しいソースコードを持っており、エラーが出るそうです。

nao-interface.lとrobot-interface.lの:add-controller　の内容が微妙に違うようです。（create-actions というキーワードが一つ多い）

see reactiveness of preempting of joint trajectory controllers of pr2

With light load average ( ~ 10), let's see the reactiveness of preempting of joint trajectory controllers.

heavy programs are:

mjpeg_server (#9)
throttle (#10)

Travis log has some rosdep error in some passed packages?

When I see some logs in travis build, some passed commit seems to have the error message.

For example, https://travis-ci.org/jsk-ros-pkg/jsk_robot/jobs/31119304#L990 seems to have the error message like

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
multi_map_server: Cannot locate rosdep definition for [map_server]
roseus_smach: Cannot locate rosdep definition for [executive_smach]
jsk_pcl_ros: Cannot locate rosdep definition for [ml_classifiers]
jsk_rosjava_messages: Cannot locate rosdep definition for [rosjava_messages]
pr2eus: Cannot locate rosdep definition for [sound_play]
sklearn: Cannot locate rosdep definition for [ml_classifiers]

Why does these error appear and the travis ignore these...?

naoのサーボオンについて (send ni :servo-onで手にもサーボを入れたいです）

nao-interface.lに :start-grasp :stop-graspを作ろうとしています。
RHand, LHandにサーボが入っている状態では、
/joint_anglesにメッセージをpublishすれば手の開閉ができるところまで出来ました。

しかしeuslispのコードでは、手にサーボが入らなくて困っています。
send ni :servo-onでは、モデルで定義されている関節全てにサーボが入るのですが、RHand, LHandは含まれていません。

pprint (send-all (send nao :joint-list) :name)　をやると
("LShoulderPitch"　"LShoulderRoll"　"LElbowYaw"　"LElbowRoll"　 "LWristYaw"　"RShoulderPitch"
"RShoulderRoll"　"RElbowYaw"　"RElbowRoll"　"RWristYaw"　 "LHipYawPitch"　"LHipRoll"
"LHipPitch"　"LKneePitch"　"LAnklePitch"　"LAnkleRoll"　 "RHipYawPitch"　"RHipRoll"　"RHipPitch" "RKneePitch" "RAnklePitch" "RAnkleRoll" "HeadYaw" "HeadPitch")
となっています。

Naoqiで定義されている関数setStiffnesses('Body', 1.0)をやると、Bodyの中にRHand, LHandが含まれているのでサーボが入ります。getBodyNames("Body")の結果は以下です。
Body:
['HeadYaw', 'HeadPitch', 'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'LWristYaw', 'LHand', 'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll', 'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll', 'RWristYaw', 'RHand']

ナオの関節のリストの中にRHand LHandを追加するのは難しいでしょうか。（nao.yamlファイルを書きなおせばよいのでしょうか。）
もしよろしければご教示ください。

teleoperation stuff is too heavy

#15

CPU load of c1 is over 20 when roslaunch jsk_pr2_startup pr2.launch.

w/ teleop -- 25 CPU load
w/o teleop, w/ nodelet throttle -- 13 CPU load
w/o teleop, w/o nodelet throttle -- 15 CPU load

w/ teleop

w/o teleop, w/ nodelet throttle

w/o teleop, w/o nodelet throttle

failed wstool update in jsk_pepper_robot/setup environment

Hi, @kochigami and I were doing the operations in https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pepper_robot/README.md

mkdir -p catkin_ws/src
cd  catkin_ws/src

The operations above made ~/catkin_ws/src/src directory, so we've deleted it first by $ rm -r ~/catkin_ws/src/src and then by using GUI (which means throwing the src-folder into the trash).
Then we continued

wstool init src
wstool merge -t src https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/mas\
ter/jsk_pepper_robot/pepper.rosinstall
wstool update -t src

and got the error messages below

leus@mirai1:~/catkin_ws$ wstool update -t src
[naoqi_bridge] Updating /home/leus/catkin_ws/src/naoqi_bridge
[naoqi_bridge] Done.
[nao_interaction] Fetching /home/leus/catkin_ws/src/https/github.com/ros-naoqi/nao_interaction.git (version master) to /home/leus/catkin_ws/src/nao_interaction
fatal: repository '/home/leus/catkin_ws/src/https/github.com/ros-naoqi/nao_interaction.git' does not exist
[nao_robot] Updating /home/leus/catkin_ws/src/nao_robot
[nao_robot] Done.
[jsk_robot] Updating /home/leus/catkin_ws/src/jsk_robot
Submodule '.travis' () registered for path '.travis'

[jsk_robot] Done.
Exception caught during install: Error processing 'nao_interaction' : [nao_interaction] Checkout of /home/leus/catkin_ws/src/https/github.com/ros-naoqi/nao_interaction.git version master into /home/leus/catkin_ws/src/nao_interaction failed.

ERROR in config: Error processing 'nao_interaction' : [nao_interaction] Checkout of /home/leus/catkin_ws/src/https/github.com/ros-naoqi/nao_interaction.git version master into /home/leus/catkin_ws/src/nao_interaction failed.

The situation looks a bit like start-jsk/jsk_apc#21, but we've already set ssh keys.

Please help us!!!

pr1040 does not tweet

hmm...??

[INFO] [WallTime: 1412256338.290637] /rostwitter_29372_1412256336909 sending hello
[INFO] [WallTime: 1412256339.236520] /rostwitter_29372_1412256336909 receiving {u'errors': [{u'message': u'Could not authenticate you', u'code': 32}]}

Unsafe mode is slower than safe mode, so we need the fast unsafe command in joystick

ros-naoqi/nao_robot/nao_bringupでナオを動かす

まだペッパーくんにsshできなくて、きちんと試せていないのですが、
~/jsk_pepper_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launchによると、ペッパーくんは
roslaunch nao_bringup nao.launch force_python:=true で動いているのだと思います。

しかし、nao実機で試そうとして、同じコマンドを打つと、naoqi_joint_statesのノードが落ちてしまいます。

https://github.com/ros-naoqi/nao_robot.git によると、
naoqi_joint_statesはnaoqi_driver/launch/naoqi_driver.launch の中で上がっていて、そこでは
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=NAOのIP force_python:=true
というようにnaoのIPを指定する必要があります。

しかし、naoqi_driver.launch が含まれる、大元の nao.launchでは、nao_ipをそもそも引数に取らないので、デフォルト値が反映されて落ちてしまうのが原因なのかな、と思いました。

明日、nao.launchの中でnao_ipをargとして指定して、動くか試してみようと思います。

gripper sensor controllerno

euslispでペッパーに発話させる

jsk_robot / jsk_pepper_robot / jsk_pepper_startup /tweet.l
で、(speak-jp "言葉")のように喋る機能をペッパーにもつけるというお話があったので書かせていただきます。

ナオでは、私は
naoeus/nao-interface.lの中の
:speak となっているところを書き足して使っています。
ナオには　/speechというトピックがあり、それに言葉を与えてパブリッシュしています。

研究室のナオは英語（とフランス語）でしか話せませんが、ペッパーは日本語で話せるので多分これで大丈夫だと思います。
（ナオでは、日本語発話は体内にwavファイルを入れて、音声ファイルを再生しています。）

検討違いのことを言っていたら申し訳ございません。間違いを教えていただけるとありがたいです。

add rosbuild/catkin test

naoのモデルの座標系の原点の移動について

pr2-interface.l の pr2-initのように、nao-interface.l の nao-initを作っています。
しかし、表示されるナオのIRT viewerのモデルとKinematics Simulatorのモデルは、原点が足元にあるpr2とは違って
Why is Baxter model standing in ground? #56 のようにお腹に原点があります。

IRT viewerのモデルは、(send nao :fix-leg-to-coords (make-coords) '(:rleg :lleg))　で移動出来ました。

初歩的な質問なのですが、
IRT viewerのモデルの　(setq cds_nao (send nao :copy-worldcoords)) はできて、
Simulatorのモデルの　 (setq cds_ni (send ni :copy-worldcoords)) はできませんでした。
Kinematics Simulatorの方は、pr2のモデルのように原点を足元に移動させることはできるでしょうか。

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