cob_script_server always results in aborted
I've been trying to interface with the COB_SCRIPT_SERVER but all of my attempts are generally resulting in an aborted state, although in Gazebo it's clear that the robot is completing the action. Even the included scripts are resulting in the same behaviour. For simplicity, I'm going to reference a run of one of the included scripts ros_script.py. I say generally, because about 10% of the time, the individual action will result in a success state. For example, the tray will reach down, but the arm will abort, or vice versa. I've experienced this on both machines I've used for development. I'm not sure if I'm missing a step during the installation, or if there is a bug that's preventing the script server from running properly.
Details below:
Version: Electric
Output:
nathan@Desktop:~$ rosrun cob_script_server ros_script.py
[INFO] [WallTime: 1343860413.922051] [0.000000] Start parsing...
[INFO] [WallTime: 1343860415.098590] [1813.232000] ...parsing finished
[INFO] [WallTime: 1343860416.166140] [1814.234000] Starting <<ros_script>> script...
[INFO] [WallTime: 1343860416.173912] [1814.238000] <<init>> <<tray>>
[INFO] [WallTime: 1343860416.177135] [1814.244000] Wait for <<tray>> to <<init>>...
[INFO] [WallTime: 1343860416.179207] [1814.247000] ...<<tray>> is <<init>>
[INFO] [WallTime: 1343860416.181657] [1814.247000] <<init>> <<torso>>
[INFO] [WallTime: 1343860416.184228] [1814.247000] Wait for <<torso>> to <<init>>...
[INFO] [WallTime: 1343860416.186081] [1814.247000] ...<<torso>> is <<init>>
[INFO] [WallTime: 1343860416.188504] [1814.250000] <<init>> <<arm>>
[INFO] [WallTime: 1343860416.197476] [1814.258000] Wait for <<arm>> to <<init>>...
[INFO] [WallTime: 1343860416.199323] [1814.260000] ...<<arm>> is <<init>>
[INFO] [WallTime: 1343860416.202449] [1814.265000] <<init>> <<sdh>>
[INFO] [WallTime: 1343860416.205368] [1814.270000] Wait for <<sdh>> to <<init>>...
[INFO] [WallTime: 1343860416.207662] [1814.275000] ...<<sdh>> is <<init>>
[INFO] [WallTime: 1343860416.216444] [1814.280000] Set light to <<red>>
[INFO] [WallTime: 1343860416.220778] [1814.284000] Move <<arm>> to <<folded>>
[INFO] [WallTime: 1343860416.493836] [1814.510000] Move <<torso>> to <<home>>
[INFO] [WallTime: 1343860416.732325] [1814.705000] Move <<sdh>> to <<home>>
[INFO] [WallTime: 1343860417.005013] [1814.980000] Move <<tray>> to <<down>>
[INFO] [WallTime: 1343860417.278968] [1815.216000] Wait for <<tray>> reaching <<down>>...
[ERROR] [WallTime: 1343860420.619813] [1818.026000] Got a result when we were already in the DONE state
[ERROR] [WallTime: 1343860420.910384] [1818.226000] Got a result when we were already in the DONE state
[ERROR] [WallTime: 1343860421.142359] [1818.403000] Got a result when we were already in the DONE state
[ERROR] [WallTime: 1343860421.273235] [1818.499000] ...<<tray>> could not reach <<down>>, aborting...
[WARN] [WallTime: 1343860421.273568] [1818.499000] Execution of <<arm>> to <<folded>> was aborted, wait not possible. Continuing...
[INFO] [WallTime: 1343860421.281221] [1818.501000] Move <<base>> to <<home>>
[ERROR] [WallTime: 1343860421.585754] [1818.728000] Got a result when we were already in the DONE state
[ERROR] [WallTime: 1343860427.967003] [1823.516000] /move_base action server not ready within timeout, aborting...
[INFO] [WallTime: 1343860427.975447] [1823.519000] Set light to <<green>>
[INFO] [WallTime: 1343860427.978389] [1823.524000] Wait for script to finish...
[INFO] [WallTime: 1343860427.978713] [1823.524000] ...script finished.
