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2012-08-08 02:55:37 -0500 commented answer cob_script_server always results in aborted

Thanks for the help, at least now I know it's not something that I've done. I'll just work around it until I get a chance to run it on the physical robot

2012-08-08 02:54:11 -0500 answered a question Gazebo fails to load

It seems to stem from the combination of Fuerte and COB. As soon as I rolled back to Electric, everything started working. Not sure if something has changed in the format of the simulation files for Fuerte that makes the current COB code not work, but for now I'm just sticking to Electric.

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2012-08-01 12:42:38 -0500 asked a question 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.

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2012-06-25 06:58:55 -0500 asked a question Gazebo fails to load

I've been trying to get ROS and Care-O-Bot installed and running for some time now. I can never get Gazebo to initialize properly. I'm using Ubuntu 10.04, and Fuerte

I start with the instructions here:
http://www.ros.org/wiki/fuerte/Installation/Ubuntu
http://www.ros.org/wiki/Robots/Care-O-bot/fuerte

Then these:
http://www.ros.org/wiki/cob_bringup_sim

I can get through all of the ROS tutorials, so I believe that everything has been done correctly with respect to ROS, but when I run cob_bringup_sim Gazebo fails with the following error:

Error [Plugin.hh:100] Failed to load plugin -1: -1: cannot open shared object file: No such file or directory
Warning [parser.cc:332] Gazebo SDF has no gazebo element
Warning [parser.cc:243] parser for sdf version 1.0 failed, trying to parse as old deprecated format
Segmentation fault

For reference, here is the Gazebo cmd that cob_bringup_sim generates, running this line solo creates the same error:
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -s -1 /opt/ros/fuerte/stacks/cob_environments/cob_gazebo_worlds/common/worlds/empty.world __name:=gazebo __log:=/home/nathan/.ros/log/58188a6e-bee5-11e1-bd07-f46d0412dc71/gazebo-2.log

No log file is generated, and I can only assume that Gazebo never even attempts to load.