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From: <cam...@be...> - 2012-07-08 23:11:05
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Yes, it looks like that is the case. Try setting all of the goal points, including the torso and left arm, but just keep the torso and left arm in the same position. I believe the reason for the crash is that Lightning is trying to find 15 joint angles in the goal but the goal only has 7 elements, causing the 'index out of range' exception. The joint names list and the goal point should have a one-to-one matching (i.e. the i_th value in the goal point should be the desired position of the i_th joint in the joint names list). Also, did you run the 7 Dof test that was provided with the original package (roslaunch lightning table_test.launch or roslaunch lightning box_test.launch)? I just wanted to make sure that was working for you. Cameron > 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 > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > LightningROS-users mailing list > Lig...@li... > https://lists.sourceforge.net/lists/listinfo/lightningros-users > |
