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From: Mike P. <mlp...@an...> - 2012-07-06 17:12:47
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Hi,
I'm trying to use lightning to do single arm planning now. I get a
weird exception and it also is unable to plan (both for the RR and the
PFS). The log is below.
Is it possible that it is failing because we are giving it a 15 DoF
starting configuration (both arms and the torso), while only giving a
goal for the right arm?
Here is the goal we're giving lighting.
[ INFO]: [node] [lightning_jc] [0] r_shoulder_pan_joint: 0.2136
[ INFO]: [node] [lightning_jc] [1] r_shoulder_lift_joint: 0.9962
[ INFO]: [node] [lightning_jc] [2] r_upper_arm_roll_joint: 0.0000
[ INFO]: [node] [lightning_jc] [3] r_elbow_flex_joint: -1.4653
[ INFO]: [node] [lightning_jc] [4] r_forearm_roll_joint: 2.9673
[ INFO]: [node] [lightning_jc] [5] r_wrist_flex_joint: -0.5258
[ INFO]: [node] [lightning_jc] [6] r_wrist_roll_joint: -1.9861
-----------------
LOG
-----------------
[INFO] [WallTime: 1341551834.875331] [804.253000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341551834.945128] [804.276000] Lightning: Sending goal to PFS
[INFO] [WallTime: 1341551835.886394] [804.983000] RR action server: RR
got an action goal
[INFO] [WallTime: 1341551835.911626] [804.926000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341551836.055891] [805.213000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341551836.056183] [805.213000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341551836.082171] [805.099000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341551836.093299] [805.099000] PFS action server:
got a planner
[INFO] [WallTime: 1341551836.178081] [805.304000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341551836.201547] [805.245000] Plan Trajectory
Wrapper: got a plan_trajectory request for
pfs_planner_node0/plan_kinematic_path with start = (-1.5,
0.017997624551430391, -0.005238188295824564, -1.3999999999999999,
-1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5,
1.0, 0.005683010665493704, -1.3999999999999999,
0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238,
0.20999999999999999) and goal = (-0.25655307325063514,
-0.35280517626828445, -0.17925268031909347, -0.50835589553009353,
-2.5855129380065969, -0.87238740788264391, 2.945418173893243)
[ERROR] [WallTime: 1341551836.456685] [805.634000] Exception in your
execute callback: tuple index out of range
Traceback (most recent call last):
File "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py",
line 294, in executeLoop
self.execute_callback(goal)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 96, in _get_path
unfiltered = self._call_planner(s, g,
action_goal.allowed_planning_time.to_sec())
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 82, in _call_planner
ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal,
planner_number, self.current_joint_names, self.current_group_name,
planning_time, self.planner_config_name)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py",
line 113, in plan_trajectory
temp_constraint.position = goal_point[i]
IndexError: tuple index out of range
[INFO] [WallTime: 1341551836.494590] [805.678000] Lightning: Call to
PFS did not return a path
[INFO] [WallTime: 1341551836.511521] [805.686000] Lightning: did not find a path
[INFO] [WallTime: 1341551846.795829] [812.336000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341551846.796301] [812.336000] Lightning: Sending goal to PFS
[INFO] [WallTime: 1341551846.825316] [812.352000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341551846.825673] [812.352000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341551846.830657] [812.384000] RR action server: RR
got an action goal
[INFO] [WallTime: 1341551846.831015] [812.384000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341551846.831214] [812.384000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341551846.831941] [812.384000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341551876.797379] [836.726000] Lightning: ran out of time
[INFO] [WallTime: 1341551877.014692] [836.866000] RR action server: RR
node got a stop message
[INFO] [WallTime: 1341551877.078359] [836.876000] PFS action server:
PFS node got a stop message
[ INFO]: rr_planner0 got a stop planning message
[ INFO]: rr_planner1 got a stop planning message
[ INFO]: pfs_planner0 got a stop planning message
[ INFO]: Listening on rr_planner1 and stop_rr_planning for ompl ros interface
[ INFO]: Collision check service: ready to check joint configurations
[INFO] [WallTime: 1341553378.201836] [2063.232000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341553378.202485] [2063.232000] Lightning: Sending
goal to PFS
[INFO] [WallTime: 1341553378.219800] [2063.247000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341553378.220057] [2063.247000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341553378.220269] [2063.247000] PFS action server:
got a planner
[INFO] [WallTime: 1341553378.220540] [2063.247000] Plan Trajectory
Wrapper: got a plan_trajectory request for
pfs_planner_node0/plan_kinematic_path with start = (-1.5,
0.017997624551430391, -0.005238188295824564, -1.3999999999999999,
-1.3500000000000001, -0.27117550572608401, -0.50000208557577763, 1.5,
1.0, 0.005683010665493704, -1.3999999999999999,
0.00079943310185193195, -0.7439117804053561, 0.00049889278955195238,
0.20999999999999999) and goal = (-0.25658442183287811,
-0.35281028018567451, -0.17925268031909347, -0.50832284815701723,
-2.5702508988451118, -0.87473974204444094, 2.9356195459473255)
[ERROR] [WallTime: 1341553378.221644] [2063.247000] Exception in your
execute callback: tuple index out of range
Traceback (most recent call last):
File "/opt/ros/electric/stacks/common/actionlib/src/actionlib/simple_action_server.py",
line 294, in executeLoop
self.execute_callback(goal)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 96, in _get_path
unfiltered = self._call_planner(s, g,
action_goal.allowed_planning_time.to_sec())
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/PFS_action_server.py",
line 82, in _call_planner
ret = self.plan_trajectory_wrapper.plan_trajectory(start, goal,
planner_number, self.current_joint_names, self.current_group_name,
planning_time, self.planner_config_name)
File "/home/bcohen/ros/electric/learning-rss/learning/arm/lightning/src/tools/PathTools.py",
line 113, in plan_trajectory
temp_constraint.position = goal_point[i]
IndexError: tuple index out of range
[INFO] [WallTime: 1341553378.223201] [2063.247000] Lightning: Call to
PFS did not return a path
[INFO] [WallTime: 1341553378.229770] [2063.247000] RR action server:
RR got an action goal
[INFO] [WallTime: 1341553378.230083] [2063.247000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341553378.230289] [2063.247000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341553378.231010] [2063.247000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341553378.231497] [2063.247000] Lightning: did not
find a path
[INFO] [WallTime: 1341553388.060248] [2070.144000] Lightning: Sending goal to RR
[INFO] [WallTime: 1341553388.060712] [2070.144000] Lightning: Sending
goal to PFS
[INFO] [WallTime: 1341553388.067645] [2070.162000] RR action server:
RR got an action goal
[INFO] [WallTime: 1341553388.068008] [2070.162000] Path library: No
paths corresponding to robot pr2 with joints ['r_shoulder_pan_joint',
'r_shoulder_lift_joint', 'r_upper_arm_roll_joint',
'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint',
'r_wrist_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint',
'torso_lift_joint']
[INFO] [WallTime: 1341553388.068212] [2070.162000] RR action server:
got an empty path for retrieve state
[INFO] [WallTime: 1341553388.068848] [2070.162000] Lightning: Call to
RR did not return a path
[INFO] [WallTime: 1341553388.070916] [2070.162000] PFS action server:
PFS got an action goal
[INFO] [WallTime: 1341553388.071162] [2070.162000] PFS action server:
acquiring planner
[INFO] [WallTime: 1341553418.061517] [2098.126000] Lightning: ran out of time
[INFO] [WallTime: 1341553418.068940] [2098.161000] RR action server:
RR node got a stop message
[ INFO]: rr_planner0 got a stop planning message
[ INFO]: rr_planner1 got a stop planning message
[INFO] [WallTime: 1341553418.070779] [2098.161000] PFS action server:
PFS node got a stop message
[ INFO]: pfs_planner0 got a stop planning message
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