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nao_teleop BodyPoseActions fail

I'm using the nao_teleop system. I can enable the controller, move the head around (the instructions for this on the wiki are incorrect -- btn 5 needs to be help while analogue sticks are used) and control walking if the robot is already standing, but I the system fails to execute any of the body pose actions (init or crouch). The output I see is as follows. Can anyone point towards a solution? Let me know

NODES
  /
    joy_node (joy/joy_node)
    nao_controller (nao_driver/nao_controller.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_walker (nao_driver/nao_walker.py)
    pose_manager (nao_remote/pose_manager.py)
    remap_odometry (nao_remote/remap_odometry)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_nao_joy (nao_teleop/teleop_nao_joy)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[nao_walker-1]: started with pid [18467]
process[nao_sensors-2]: started with pid [18468]
process[nao_controller-3]: started with pid [18469]
process[robot_state_publisher-4]: started with pid [18470]
process[remap_odometry-5]: started with pid [18490]
process[pose_manager-6]: started with pid [18525]
process[teleop_nao_joy-7]: started with pid [18528]
process[joy_node-8]: started with pid [18568]
[INFO] [WallTime: 1337087278.686138] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.774109] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.961661] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 127.0.0.1:54010
[INFO] [WallTime: 1337087279.133906] for_iros2011 = 0
say Walker online ...
[INFO ] NAOqi is listening on 127.0.0.1:54011
...done
[INFO] [WallTime: 1337087279.181416] nao_walker initialized
[INFO] [WallTime: 1337087279.181596] nao_walker running...
[INFO ] NAOqi is listening on 127.0.0.1:54012
[INFO] [WallTime: 1337087279.573459] nao_controller initialized
[INFO] [WallTime: 1337087279.573854] nao_controller running...
[INFO] [WallTime: 1337087282.363589] nao_sensors initialized
[INFO] [WallTime: 1337087283.775101] Body stiffness enabled
say Gamepad control enabled ...
...done
[INFO] [WallTime: 1337087342.310645] JointTrajectory action executing
[ERROR] [WallTime: 1337087342.333748] Exception in your execute callback:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/local/stacks/nao_robot/nao_driver/scripts/nao_controller.py", line 183, in executeJointTrajectoryAction
    self.motionProxy.angleInterpolation(names, angles, times, (goal.relative==0))
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 187, in __call__
    return self.__wrapped__.method_missing(self.__method__, *args, **kwargs)
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 257, in method_missing
    raise e
RuntimeError:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names

[ERROR] [WallTime: 1337087342.358098] To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 4
[ERROR] [1337087342.358647961]: crouch pose action did not succeed (ABORTED): JointTrajectory action did not succeed (timeout?)

nao_teleop BodyPoseActions fail

I'm using the nao_teleop system. I can enable the controller, move the head around (the instructions for this on the wiki are incorrect -- btn 5 needs to be help while analogue sticks are used) and control walking if the robot is already standing, but I the system fails to execute any of the body pose actions (init or crouch). The output I see is as follows. Can anyone point towards a solution? Let me know if more output is necessary too.

NODES
  /
    joy_node (joy/joy_node)
    nao_controller (nao_driver/nao_controller.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_walker (nao_driver/nao_walker.py)
    pose_manager (nao_remote/pose_manager.py)
    remap_odometry (nao_remote/remap_odometry)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_nao_joy (nao_teleop/teleop_nao_joy)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[nao_walker-1]: started with pid [18467]
process[nao_sensors-2]: started with pid [18468]
process[nao_controller-3]: started with pid [18469]
process[robot_state_publisher-4]: started with pid [18470]
process[remap_odometry-5]: started with pid [18490]
process[pose_manager-6]: started with pid [18525]
process[teleop_nao_joy-7]: started with pid [18528]
process[joy_node-8]: started with pid [18568]
[INFO] [WallTime: 1337087278.686138] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.774109] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.961661] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 127.0.0.1:54010
[INFO] [WallTime: 1337087279.133906] for_iros2011 = 0
say Walker online ...
[INFO ] NAOqi is listening on 127.0.0.1:54011
...done
[INFO] [WallTime: 1337087279.181416] nao_walker initialized
[INFO] [WallTime: 1337087279.181596] nao_walker running...
[INFO ] NAOqi is listening on 127.0.0.1:54012
[INFO] [WallTime: 1337087279.573459] nao_controller initialized
[INFO] [WallTime: 1337087279.573854] nao_controller running...
[INFO] [WallTime: 1337087282.363589] nao_sensors initialized
[INFO] [WallTime: 1337087283.775101] Body stiffness enabled
say Gamepad control enabled ...
...done
[INFO] [WallTime: 1337087342.310645] JointTrajectory action executing
[ERROR] [WallTime: 1337087342.333748] Exception in your execute callback:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/local/stacks/nao_robot/nao_driver/scripts/nao_controller.py", line 183, in executeJointTrajectoryAction
    self.motionProxy.angleInterpolation(names, angles, times, (goal.relative==0))
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 187, in __call__
    return self.__wrapped__.method_missing(self.__method__, *args, **kwargs)
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 257, in method_missing
    raise e
RuntimeError:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names

[ERROR] [WallTime: 1337087342.358098] To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 4
[ERROR] [1337087342.358647961]: crouch pose action did not succeed (ABORTED): JointTrajectory action did not succeed (timeout?)

nao_teleop BodyPoseActions fail

I'm using the nao_teleop system. I can enable the controller, move the head around (the instructions for this on the wiki are incorrect -- btn 5 needs to be help while analogue sticks are used) and control walking if the robot is already standing, but I the system fails to execute any of the body pose actions (init or crouch). The output I see is as follows. Can anyone point towards a solution? Let me know if more output is necessary too.

EDIT: Apologies for the lack of information (I was running out of the office and failed to engage my brain)! My setup:

  • naoqi-sdk-1.12.3-linux32
  • Ubuntu Oneiric (in a 32 bit chroot in a 64 bit install)
  • ROS Fuerte, installed from binary packages
  • nao_teleop was fetched from svn using rosinstall (as instructed by the wiki), at revision 2727 (last changed 2340)
NODES
  /
    joy_node (joy/joy_node)
    nao_controller (nao_driver/nao_controller.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_walker (nao_driver/nao_walker.py)
    pose_manager (nao_remote/pose_manager.py)
    remap_odometry (nao_remote/remap_odometry)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_nao_joy (nao_teleop/teleop_nao_joy)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[nao_walker-1]: started with pid [18467]
process[nao_sensors-2]: started with pid [18468]
process[nao_controller-3]: started with pid [18469]
process[robot_state_publisher-4]: started with pid [18470]
process[remap_odometry-5]: started with pid [18490]
process[pose_manager-6]: started with pid [18525]
process[teleop_nao_joy-7]: started with pid [18528]
process[joy_node-8]: started with pid [18568]
[INFO] [WallTime: 1337087278.686138] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.774109] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.961661] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 127.0.0.1:54010
[INFO] [WallTime: 1337087279.133906] for_iros2011 = 0
say Walker online ...
[INFO ] NAOqi is listening on 127.0.0.1:54011
...done
[INFO] [WallTime: 1337087279.181416] nao_walker initialized
[INFO] [WallTime: 1337087279.181596] nao_walker running...
[INFO ] NAOqi is listening on 127.0.0.1:54012
[INFO] [WallTime: 1337087279.573459] nao_controller initialized
[INFO] [WallTime: 1337087279.573854] nao_controller running...
[INFO] [WallTime: 1337087282.363589] nao_sensors initialized
[INFO] [WallTime: 1337087283.775101] Body stiffness enabled
say Gamepad control enabled ...
...done
[INFO] [WallTime: 1337087342.310645] JointTrajectory action executing
[ERROR] [WallTime: 1337087342.333748] Exception in your execute callback:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/local/stacks/nao_robot/nao_driver/scripts/nao_controller.py", line 183, in executeJointTrajectoryAction
    self.motionProxy.angleInterpolation(names, angles, times, (goal.relative==0))
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 187, in __call__
    return self.__wrapped__.method_missing(self.__method__, *args, **kwargs)
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 257, in method_missing
    raise e
RuntimeError:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names

[ERROR] [WallTime: 1337087342.358098] To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 4
[ERROR] [1337087342.358647961]: crouch pose action did not succeed (ABORTED): JointTrajectory action did not succeed (timeout?)

nao_teleop BodyPoseActions fail

I'm using the nao_teleop system. I can enable the controller, move the head around (the instructions for this on the wiki are incorrect -- btn 5 needs to be help while analogue sticks are used) and control walking if the robot is already standing, but I the system fails to execute any of the body pose actions (init or crouch). The output I see is as follows. Can anyone point towards a solution? Let me know if more output is necessary too.

EDIT: Apologies for the lack of information (I was running out of the office and failed to engage my brain)! My setup:

  • naoqi-sdk-1.12.3-linux32
  • Ubuntu Oneiric (in a 32 bit chroot in a 64 bit install)
  • ROS Fuerte, installed from binary packages
  • nao_teleop was fetched from svn using rosinstall (as instructed by the wiki), at revision 2727 (last changed 2340)
NODES
  /
    joy_node (joy/joy_node)
    nao_controller (nao_driver/nao_controller.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_walker (nao_driver/nao_walker.py)
    pose_manager (nao_remote/pose_manager.py)
    remap_odometry (nao_remote/remap_odometry)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_nao_joy (nao_teleop/teleop_nao_joy)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[nao_walker-1]: started with pid [18467]
process[nao_sensors-2]: started with pid [18468]
process[nao_controller-3]: started with pid [18469]
process[robot_state_publisher-4]: started with pid [18470]
process[remap_odometry-5]: started with pid [18490]
process[pose_manager-6]: started with pid [18525]
process[teleop_nao_joy-7]: started with pid [18528]
process[joy_node-8]: started with pid [18568]
[INFO] [WallTime: 1337087278.686138] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.774109] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.961661] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 127.0.0.1:54010
[INFO] [WallTime: 1337087279.133906] for_iros2011 = 0
say Walker online ...
[INFO ] NAOqi is listening on 127.0.0.1:54011
...done
[INFO] [WallTime: 1337087279.181416] nao_walker initialized
[INFO] [WallTime: 1337087279.181596] nao_walker running...
[INFO ] NAOqi is listening on 127.0.0.1:54012
[INFO] [WallTime: 1337087279.573459] nao_controller initialized
[INFO] [WallTime: 1337087279.573854] nao_controller running...
[INFO] [WallTime: 1337087282.363589] nao_sensors initialized
[INFO] [WallTime: 1337087283.775101] Body stiffness enabled
say Gamepad control enabled ...
...done
[INFO] [WallTime: 1337087342.310645] JointTrajectory action executing
[ERROR] [WallTime: 1337087342.333748] Exception in your execute callback:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/local/stacks/nao_robot/nao_driver/scripts/nao_controller.py", line 183, in executeJointTrajectoryAction
    self.motionProxy.angleInterpolation(names, angles, times, (goal.relative==0))
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 187, in __call__
    return self.__wrapped__.method_missing(self.__method__, *args, **kwargs)
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 257, in method_missing
    raise e
RuntimeError:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names

[ERROR] [WallTime: 1337087342.358098] To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 4
[ERROR] [1337087342.358647961]: crouch pose action did not succeed (ABORTED): JointTrajectory action did not succeed (timeout?)

nao_teleop BodyPoseActions fail

I'm using the nao_teleop system. I can enable the controller, move the head around (the instructions for this on the wiki are incorrect -- btn 5 needs to be help while analogue sticks are used) and control walking if the robot is already standing, but I the system fails to execute any of the body pose actions (init or crouch). The output I see is as follows. Can anyone point towards a solution? Let me know if more output is necessary too.

EDIT: Apologies for the lack of information (I was running out of the office and failed to engage my brain)! My setup:

  • naoqi-sdk-1.12.3-linux32naoqi-sdk-1.12.3-linux32 on the H21 Nao (sprung hands)
  • Ubuntu Oneiric (in a 32 bit chroot in a 64 bit install)
  • ROS Fuerte, installed from binary packages
  • nao_teleop was fetched from svn using rosinstall (as instructed by the wiki), at revision 2727 (last changed 2340)
NODES
  /
    joy_node (joy/joy_node)
    nao_controller (nao_driver/nao_controller.py)
    nao_sensors (nao_driver/nao_sensors.py)
    nao_walker (nao_driver/nao_walker.py)
    pose_manager (nao_remote/pose_manager.py)
    remap_odometry (nao_remote/remap_odometry)
    robot_state_publisher (robot_state_publisher/state_publisher)
    teleop_nao_joy (nao_teleop/teleop_nao_joy)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[nao_walker-1]: started with pid [18467]
process[nao_sensors-2]: started with pid [18468]
process[nao_controller-3]: started with pid [18469]
process[robot_state_publisher-4]: started with pid [18470]
process[remap_odometry-5]: started with pid [18490]
process[pose_manager-6]: started with pid [18525]
process[teleop_nao_joy-7]: started with pid [18528]
process[joy_node-8]: started with pid [18568]
[INFO] [WallTime: 1337087278.686138] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.774109] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO] [WallTime: 1337087278.961661] Connecting to NaoQi at 192.168.0.6:9559
[INFO ] Starting ALNetwork
[INFO ] NAOqi is listening on 127.0.0.1:54010
[INFO] [WallTime: 1337087279.133906] for_iros2011 = 0
say Walker online ...
[INFO ] NAOqi is listening on 127.0.0.1:54011
...done
[INFO] [WallTime: 1337087279.181416] nao_walker initialized
[INFO] [WallTime: 1337087279.181596] nao_walker running...
[INFO ] NAOqi is listening on 127.0.0.1:54012
[INFO] [WallTime: 1337087279.573459] nao_controller initialized
[INFO] [WallTime: 1337087279.573854] nao_controller running...
[INFO] [WallTime: 1337087282.363589] nao_sensors initialized
[INFO] [WallTime: 1337087283.775101] Body stiffness enabled
say Gamepad control enabled ...
...done
[INFO] [WallTime: 1337087342.310645] JointTrajectory action executing
[ERROR] [WallTime: 1337087342.333748] Exception in your execute callback:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/local/stacks/nao_robot/nao_driver/scripts/nao_controller.py", line 183, in executeJointTrajectoryAction
    self.motionProxy.angleInterpolation(names, angles, times, (goal.relative==0))
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 187, in __call__
    return self.__wrapped__.method_missing(self.__method__, *args, **kwargs)
  File "/opt/nao/naoqi-sdk-1.12.3-linux32/lib/naoqi.py", line 257, in method_missing
    raise e
RuntimeError:   ALMotion::angleInterpolation
        ALBroker::methodCall: method: angleInterpolation, params: [["Body"], [[0], [0], [1.545], [0.33], [-1.57], [-0.486], [0], [0], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [-0.3], [0.057], [-0.744], [2.192], [-1.122], [-0.035], [1.545], [-0.33], [1.57], [0.486], [0], [0]], 1.5, true]
        ALMotion::angleInterpolation
        ALMotion::angleInterpolation
    Expected the angles series to be of the same size as the joint names

[ERROR] [WallTime: 1337087342.358098] To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 4
[ERROR] [1337087342.358647961]: crouch pose action did not succeed (ABORTED): JointTrajectory action did not succeed (timeout?)