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test failed #50

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lucarossini-iit opened this issue May 29, 2020 · 1 comment
Closed

test failed #50

lucarossini-iit opened this issue May 29, 2020 · 1 comment

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@lucarossini-iit
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Hi @alaurenzi,

I tried to run the routine test after installing CartesianInterface on 2.0-devel branch. This is the output:

Test project /home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface
Start 1: TestTask
1/7 Test #1: TestTask ......................... Passed 0.11 sec
Start 2: TestCartesian
2/7 Test #2: TestCartesian .................... Passed 0.08 sec
Start 3: TestApi
3/7 Test #3: TestApi .......................... Passed 0.21 sec
Start 4: TestOpensot
4/7 Test #4: TestOpensot ......................***Failed 0.07 sec
[==========] Running 3 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 3 tests from TestOpensot
[ RUN ] TestOpensot.checkInitialReference
TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so"
[success] MODEL INTERFACE so library found!
[ WARN] [1590751163.498522115]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_19_23.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in the test fixture's constructor.
[ FAILED ] TestOpensot.checkInitialReference (18 ms)
[ RUN ] TestOpensot.checkNoInitialMotion
TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so"
[success] MODEL INTERFACE so library found!
[ WARN] [1590751163.515535690]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_19_23.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in the test fixture's constructor.
[ FAILED ] TestOpensot.checkNoInitialMotion (14 ms)
[ RUN ] TestOpensot.checkMotion
TestOpensot using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so"
[success] MODEL INTERFACE so library found!
[ WARN] [1590751163.529604440]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_19_23.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in the test fixture's constructor.
[ FAILED ] TestOpensot.checkMotion (14 ms)
[----------] 3 tests from TestOpensot (46 ms total)

[----------] Global test environment tear-down
[==========] 3 tests from 1 test case ran. (46 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 3 tests, listed below:
[ FAILED ] TestOpensot.checkInitialReference
[ FAILED ] TestOpensot.checkNoInitialMotion
[ FAILED ] TestOpensot.checkMotion

3 FAILED TESTS
~LoggerClass

Start 5: TestRosClient

5/7 Test #5: TestRosClient ....................***Failed 38.23 sec
[==========] Running 3 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 3 tests from TestRos
[ RUN ] TestRos.checkClient
[ERROR] [1590751163.566435955]: [registerPublisher] Failed to contact master at [localhost:11322]. Retrying...
WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
[ERROR] [1590751164.020496953]: [setParam] Failed to contact master at [localhost:11322]. Retrying...
[info] Configuring from ROS parameter server
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[success] RobotInterface so library found!
[success] MODEL INTERFACE so library found!
[ WARN] [1590751164.141069420]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[ WARN] [1590751164.148492962]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Constructing ROS implementation of RobotInterface..
~RobotInterface()
[warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode
[info] Running in visual mode: no commands sent to robot
[success] MODEL INTERFACE so library found!
[ WARN] [1590751165.167749799]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[error] File libOpenSotBackEndOSQP.so NOT found
terminate called after throwing an instance of 'std::runtime_error'
what(): libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH
[ INFO] [1590751164.018753983]: Connected to master at [localhost:11322]
[ INFO] [1590751164.075520523]: Connected to master at [localhost:11322]
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
unknown file: Failure
C++ exception with description "Unable to call service '/cartesian/get_task_list'" thrown in the test body.
... logging to /home/luca/.ros/log/3fdb8c72-a19e-11ea-bf9d-04d9f5cb1a67/roslaunch-ADVR2001D1-30969.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://ADVR2001D1:37563/
ros_comm version 1.12.14

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES

auto-starting new master
process[master]: started with pid [30982]
ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 3fdb8c72-a19e-11ea-bf9d-04d9f5cb1a67
process[rosout-1]: started with pid [31000]
started core service [/rosout]
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2
Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134
Killed process 'roscore' with signal 2
Child process 'roscore' exited with status 0
[ FAILED ] TestRos.checkClient (12701 ms)
[ RUN ] TestRos.checkCartesian
WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
[info] Configuring from ROS parameter server
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[success] RobotInterface so library found!
[success] MODEL INTERFACE so library found!
[ WARN] [1590751176.842270737]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[ WARN] [1590751176.849718438]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Constructing ROS implementation of RobotInterface..
~RobotInterface()
[warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode
[info] Running in visual mode: no commands sent to robot
[success] MODEL INTERFACE so library found!
[ WARN] [1590751177.869085925]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[error] File libOpenSotBackEndOSQP.so NOT found
terminate called after throwing an instance of 'std::runtime_error'
what(): libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
unknown file: Failure
C++ exception with description "Unable to call service '/cartesian/get_task_list'" thrown in the test body.
... logging to /home/luca/.ros/log/476d9016-a19e-11ea-bf9d-04d9f5cb1a67/roslaunch-ADVR2001D1-31255.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://ADVR2001D1:35833/
ros_comm version 1.12.14

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES

auto-starting new master
process[master]: started with pid [31268]
ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 476d9016-a19e-11ea-bf9d-04d9f5cb1a67
process[rosout-1]: started with pid [31286]
started core service [/rosout]
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2
Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134
Killed process 'roscore' with signal 2
Child process 'roscore' exited with status 0
[ FAILED ] TestRos.checkCartesian (12705 ms)
[ RUN ] TestRos.checkPostural
WARNING: disk usage in log directory [/home/luca/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
[info] Configuring from ROS parameter server
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[success] RobotInterface so library found!
[success] MODEL INTERFACE so library found!
[ WARN] [1590751189.480024828]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[ WARN] [1590751189.487417325]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Constructing ROS implementation of RobotInterface..
~RobotInterface()
[warning] Unable to communicate with robot (exception thrown: 'Unable to connect to XBotCore'), running in visual mode
[info] Running in visual mode: no commands sent to robot
[success] MODEL INTERFACE so library found!
[ WARN] [1590751190.506861100]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[error] File libOpenSotBackEndOSQP.so NOT found
terminate called after throwing an instance of 'std::runtime_error'
what(): libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
Trying to contact server for service '/cartesian/get_task_list' ...
unknown file: Failure
C++ exception with description "Unable to call service '/cartesian/get_task_list'" thrown in the test body.
... logging to /home/luca/.ros/log/4f003ab8-a19e-11ea-bf9d-04d9f5cb1a67/roslaunch-ADVR2001D1-31534.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://ADVR2001D1:43147/
ros_comm version 1.12.14

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES

auto-starting new master
process[master]: started with pid [31547]
ROS_MASTER_URI=http://ADVR2001D1:11322/

setting /run_id to 4f003ab8-a19e-11ea-bf9d-04d9f5cb1a67
process[rosout-1]: started with pid [31569]
started core service [/rosout]
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Killed process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' with signal 2
Child process '/home/luca/src/MultiDoF-superbuild/build/external/CartesianInterface/devel/lib/cartesian_interface/ros_server_node' exited with status 134
Killed process 'roscore' with signal 2
Child process 'roscore' exited with status 0
[ FAILED ] TestRos.checkPostural (12798 ms)
[----------] 3 tests from TestRos (38204 ms total)

[----------] Global test environment tear-down
[==========] 3 tests from 1 test case ran. (38204 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 3 tests, listed below:
[ FAILED ] TestRos.checkClient
[ FAILED ] TestRos.checkCartesian
[ FAILED ] TestRos.checkPostural

3 FAILED TESTS
~LoggerClass

Start 6: TestRt

6/7 Test #6: TestRt ...........................***Failed 0.06 sec
[==========] Running 2 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 2 tests from TestRt
[ RUN ] TestRt.checkTaskList
SetUp using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so"
[success] MODEL INTERFACE so library found!
[ WARN] [1590751201.806502389]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_20_01.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in SetUp().
[ FAILED ] TestRt.checkTaskList (19 ms)
[ RUN ] TestRt.checkUsage
SetUp using path /home/luca/src/MultiDoF-superbuild/external/CartesianInterface/tests/configs/
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[success] Found item "/home/luca/src/MultiDoF-superbuild/build/install/lib/libModelInterfaceRBDL.so"
[success] MODEL INTERFACE so library found!
[ WARN] [1590751201.823486290]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] FindLib: env value is /home/luca/src/MultiDoF-superbuild/build/install/lib:/home/luca/catkin_ws/install/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/luca/src/MultiDoF-superbuild/build/install/lib:/usr/lib/x86_64-linux-gnu/gazebo-8/plugins
[info]
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_20_01.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in SetUp().
[ FAILED ] TestRt.checkUsage (14 ms)
[----------] 2 tests from TestRt (33 ms total)

[----------] Global test environment tear-down
[==========] 2 tests from 1 test case ran. (33 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 2 tests, listed below:
[ FAILED ] TestRt.checkTaskList
[ FAILED ] TestRt.checkUsage

2 FAILED TESTS
~LoggerClass

Start 7: TestRos

7/7 Test #7: TestRos ..........................***Failed 0.05 sec
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TestRos
[ RUN ] TestRos.check1
[info] Generated joint id map as:
joint_map:
1: ankle_pitch_1
2: ankle_pitch_2
3: ankle_pitch_3
4: ankle_pitch_4
5: ankle_yaw_1
6: ankle_yaw_2
7: ankle_yaw_3
8: ankle_yaw_4
9: hip_pitch_1
10: hip_pitch_2
11: hip_pitch_3
12: hip_pitch_4
13: hip_yaw_1
14: hip_yaw_2
15: hip_yaw_3
16: hip_yaw_4
17: j_arm1_1
18: j_arm1_2
19: j_arm1_3
20: j_arm1_4
21: j_arm1_5
22: j_arm1_6
23: j_arm1_7
24: j_arm2_1
25: j_arm2_2
26: j_arm2_3
27: j_arm2_4
28: j_arm2_5
29: j_arm2_6
30: j_arm2_7
31: j_wheel_1
32: j_wheel_2
33: j_wheel_3
34: j_wheel_4
35: knee_pitch_1
36: knee_pitch_2
37: knee_pitch_3
38: knee_pitch_4
39: neck_pitch
40: neck_velodyne
41: neck_yaw
42: torso_yaw
43: j_ft_1
44: j_ft_2
45: imu_joint
[success] MODEL INTERFACE so library found!
[ WARN] [1590751201.868008205]: Converting unknown joint type of joint 'reference' into a fixed joint
[info] Found FT ft_arm1 on chain left_arm
[info] Found FT ft_arm2 on chain right_arm
[info] Found IMU imu_link on chain torso
[info] Found IMU imu_link on chain front_left_leg
[info] Found IMU imu_link on chain front_right_leg
[info] Found IMU imu_link on chain rear_right_leg
[info] Found IMU imu_link on chain rear_left_leg
[info] Floating base model: TRUE
[info] Floating base link name: pelvis
[info] Joint name: hip_yaw_1 RBDL ID: 6
[info] Joint name: hip_pitch_1 RBDL ID: 7
[info] Joint name: knee_pitch_1 RBDL ID: 8
[info] Joint name: ankle_pitch_1 RBDL ID: 9
[info] Joint name: ankle_yaw_1 RBDL ID: 10
[info] Joint name: j_wheel_1 RBDL ID: 11
[info] Joint name: hip_yaw_2 RBDL ID: 12
[info] Joint name: hip_pitch_2 RBDL ID: 13
[info] Joint name: knee_pitch_2 RBDL ID: 14
[info] Joint name: ankle_pitch_2 RBDL ID: 15
[info] Joint name: ankle_yaw_2 RBDL ID: 16
[info] Joint name: j_wheel_2 RBDL ID: 17
[info] Joint name: hip_yaw_3 RBDL ID: 18
[info] Joint name: hip_pitch_3 RBDL ID: 19
[info] Joint name: knee_pitch_3 RBDL ID: 20
[info] Joint name: ankle_pitch_3 RBDL ID: 21
[info] Joint name: ankle_yaw_3 RBDL ID: 22
[info] Joint name: j_wheel_3 RBDL ID: 23
[info] Joint name: hip_yaw_4 RBDL ID: 24
[info] Joint name: hip_pitch_4 RBDL ID: 25
[info] Joint name: knee_pitch_4 RBDL ID: 26
[info] Joint name: ankle_pitch_4 RBDL ID: 27
[info] Joint name: ankle_yaw_4 RBDL ID: 28
[info] Joint name: j_wheel_4 RBDL ID: 29
[info] Joint name: torso_yaw RBDL ID: 30
[info] Joint name: j_arm1_1 RBDL ID: 31
[info] Joint name: j_arm1_2 RBDL ID: 32
[info] Joint name: j_arm1_3 RBDL ID: 33
[info] Joint name: j_arm1_4 RBDL ID: 34
[info] Joint name: j_arm1_5 RBDL ID: 35
[info] Joint name: j_arm1_6 RBDL ID: 36
[info] Joint name: j_arm1_7 RBDL ID: 37
[info] Joint name: j_arm2_1 RBDL ID: 38
[info] Joint name: j_arm2_2 RBDL ID: 39
[info] Joint name: j_arm2_3 RBDL ID: 40
[info] Joint name: j_arm2_4 RBDL ID: 41
[info] Joint name: j_arm2_5 RBDL ID: 42
[info] Joint name: j_arm2_6 RBDL ID: 43
[info] Joint name: j_arm2_7 RBDL ID: 44
[info] Joint name: neck_velodyne RBDL ID: 45
[info] Joint name: neck_yaw RBDL ID: 46
[info] Joint name: neck_pitch RBDL ID: 47
[info] Floating base origin offset: 0 0 0.93445
[success] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains:
virtual_chain
front_left_leg
front_right_leg
rear_left_leg
rear_right_leg
torso
left_arm
right_arm
velodyne
neck

[success] Solver options node found
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_2
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_4
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_3
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: wheel_1
[success] Successfully added Cartesian task with
BASE LINK: pelvis
DISTAL LINK: arm1_8
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: arm2_8
[success] Successfully added task 'ComXY' with type 'Subtask'
[success] Successfully added Cartesian task with
BASE LINK: world
DISTAL LINK: com
[success] Successfully added postural task 'Postural'
[success] Successfully added task 'ComZ' with type 'Subtask'
[success] Successfully added task 'JointLimits' with type 'JointLimits'
[success] Successfully added task 'VelocityLimits' with type 'VelocityLimits'
Created variable 'Com_active' (20 blocks, 10000 elem each)
Created variable 'Com_pos' (20 blocks, 10000 elem each)
Created variable 'Com_pos_otg' (20 blocks, 10000 elem each)
Created variable 'Com_vel' (20 blocks, 10000 elem each)
Created variable 'Com_rot' (20 blocks, 10000 elem each)
Created variable 'Com_rot_otg' (20 blocks, 10000 elem each)
Created variable 'Com_state' (20 blocks, 10000 elem each)
Created variable 'ComXY_active' (20 blocks, 10000 elem each)
Created variable 'ComZ_active' (20 blocks, 10000 elem each)
Created variable 'JointLimits_active' (20 blocks, 10000 elem each)
Created variable 'Postural_active' (20 blocks, 10000 elem each)
Created variable 'VelocityLimits_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_active' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm1_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm1_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm1_8_state' (20 blocks, 10000 elem each)
Created variable 'arm2_8_active' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos' (20 blocks, 10000 elem each)
Created variable 'arm2_8_pos_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_vel' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot' (20 blocks, 10000 elem each)
Created variable 'arm2_8_rot_otg' (20 blocks, 10000 elem each)
Created variable 'arm2_8_state' (20 blocks, 10000 elem each)
Created variable 'wheel_1_active' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_1_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_1_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_1_state' (20 blocks, 10000 elem each)
Created variable 'wheel_2_active' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_2_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_2_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_2_state' (20 blocks, 10000 elem each)
Created variable 'wheel_3_active' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_3_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_3_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_3_state' (20 blocks, 10000 elem each)
Created variable 'wheel_4_active' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos' (20 blocks, 10000 elem each)
Created variable 'wheel_4_pos_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_vel' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot' (20 blocks, 10000 elem each)
Created variable 'wheel_4_rot_otg' (20 blocks, 10000 elem each)
Created variable 'wheel_4_state' (20 blocks, 10000 elem each)
Created variable 'ci_time' (20 blocks, 10000 elem each)
10 0
0 10
10
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 18 x 48
[info] PilerHelper: expanding to 18 x 1
[info] PilerHelper: expanding to 24 x 48
[info] PilerHelper: expanding to 24 x 1
[info] PilerHelper: expanding to 6 x 48
[info] PilerHelper: expanding to 6 x 1
[info] PilerHelper: expanding to 12 x 48
[info] PilerHelper: expanding to 12 x 1
[info] PilerHelper: expanding to 14 x 48
[info] PilerHelper: expanding to 14 x 1
[info] PilerHelper: expanding to 48 x 48
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 49 x 48
[info] PilerHelper: expanding to 49 x 1
[info] OpenSot: using back-end 'osqp'
[info] OpenSot: regularization value is 1.0e+09
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[info] #USING BACK-END @Level 0: OSQP
[info] PilerHelper: expanding to 48 x 1
[info] PilerHelper: expanding to 48 x 1
[error] File libOpenSotBackEndOSQP.so NOT found
[success] Cleanly exiting from CartesI/O
Flushed all data for file '/tmp/cartesio_logger__2020_05_29__13_20_01.mat'
unknown file: Failure
C++ exception with description "libOpenSotBackEndOSQP.so must be listed inside LD_LIBRARY_PATH" thrown in SetUp().
Traceback (most recent call last):
File "/opt/ros/kinetic/bin/roscore", line 36, in
from rosmaster.master_api import NUM_WORKERS
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/init.py", line 35, in
from .main import rosmaster_main
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in
import rosmaster.master
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 45, in
import rosgraph.xmlrpc
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/init.py", line 36, in
from . masterapi import Master, MasterFailure, MasterError, MasterException
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/masterapi.py", line 41, in
from xmlrpc.client import ServerProxy # Python 3.x
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 67, in
import rosgraph.network
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/network.py", line 48, in
import platform
File "/usr/lib/python2.7/platform.py", line 1340, in
r'([\w.+]+)\s*' # "version"
File "/usr/lib/python2.7/re.py", line 194, in compile
return _compile(pattern, flags)
File "/usr/lib/python2.7/re.py", line 249, in _compile
p = sre_compile.compile(pattern, flags)
File "/usr/lib/python2.7/sre_compile.py", line 576, in compile
code = _code(p, flags)
File "/usr/lib/python2.7/sre_compile.py", line 561, in _code
_compile(code, p.data, flags)
File "/usr/lib/python2.7/sre_compile.py", line 132, in _compile
_compile(code, av[2], flags)
File "/usr/lib/python2.7/sre_compile.py", line 107, in _compile
_compile_charset(av, flags, code, fixup, fixes)
File "/usr/lib/python2.7/sre_compile.py", line 232, in _compile_charset
flags & SRE_FLAG_UNICODE):
File "/usr/lib/python2.7/sre_compile.py", line 261, in _optimize_charset
for op, av in charset:
KeyboardInterrupt
Killed process 'roscore' with signal 2
Child process 'roscore' exited with status 256
[ FAILED ] TestRos.check1 (21 ms)
[----------] 1 test from TestRos (21 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (21 ms total)
[ PASSED ] 0 tests.
[ FAILED ] 1 test, listed below:
[ FAILED ] TestRos.check1

1 FAILED TEST
~LoggerClass

43% tests passed, 4 tests failed out of 7

Total Test time (real) = 38.82 sec

The following tests FAILED:
4 - TestOpensot (Failed)
5 - TestRosClient (Failed)
6 - TestRt (Failed)
7 - TestRos (Failed)
Errors while running CTest
@EnricoMingo
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I'll close for inactivity (all the tests pass anyway).

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@EnricoMingo @lucarossini-iit