(hrpsys python) Correct relative rotation. #543

130s · 2015-03-29T22:15:13Z

下流の start-jsk/rtmros_hironx#335 の問題への @k-okada 先生による fix 案 start-jsk/rtmros_hironx#335 (comment) の実装です．
Yaw 軸が，想定している yaw 軸周りに回転することを sim 上で確認しました．

k-okada · 2015-03-29T22:45:13Z

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/1895/
Test PASSed.

k-okada · 2015-03-29T23:11:11Z

ありがとうございます．ついでに，
tork-a/rtmros_nextage#160 (comment)
の

so use  self.getCurrentPose(eename) instead of
self.fk_svc.getCurrentPose(eename) may solve problem.

も含めておいて守られると嬉しいです．

130s · 2015-03-31T06:05:08Z

so use self.getCurrentPose(eename) instead of self.fk_svc.getCurrentPose(eename) may solve problem.

も含めておいて守られると嬉しいです．

Commit を追加しました．

k-okada · 2015-03-31T06:31:05Z

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/1904/
Test PASSed.

k-okada · 2015-03-31T13:18:22Z

PR自体は良いようにおもいます

130s · 2015-04-01T06:53:13Z

travis 再起動中．log に以下エラーが頻出し，ぐぐるとメモリ不足で build がコケる事があるという人が居るので．

�[0m[ 33%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/ImpedanceControllerService_impl.o
�[0mg++: internal compiler error: Killed (program cc1plus)
�[0mPlease submit a full bug report,
�[0mwith preprocessed source if appropriate.
�[0mSee <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
�[0mmake[3]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/ImpedanceController.o] Error 4
�[0mmake[3]: *** Waiting for unfinished jobs....
�[0mmake[3]: Entering directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0mmake[3]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0mmake[3]: Entering directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0m[ 33%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/ImpedanceController.o
�[0mmake[3]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0mmake[2]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/all] Error 2
�[0mmake[2]: *** Waiting for unfinished jobs....
�[0m[ 34%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/JointPathEx.o
�[0mg++: internal compiler error: Killed (program cc1plus)
�[0mPlease submit a full bug report,
�[0mwith preprocessed source if appropriate.
�[0mSee <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
�[0mmake[3]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/ImpedanceController.o] Error 4
�[0mmake[3]: *** Waiting for unfinished jobs....
�[0mmake[3]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0mmake[2]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/all] Error 2
�[0mmake[2]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0mmake[1]: *** [all] Error 2
�[0mmake[1]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
�[0m#
�[0mgrep: /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base/install_manifest.txt: No such file or directory
�[0m�[31m�[1mCMake Error�[0m at catkin.cmake:47 (message):
�[0m  grep :
�[0m  /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base/install_manifest.txt
�[0m  0
�[0m�[36m�[4mCall Stack (most recent call first):�[0m
�[0m  CMakeLists.txt:2 (include)
�[0m
�[0m
�[0m-- Configuring incomplete, errors occurred!
�[0m�[31m�[1m<==�[0m Failed to process package '�[1m�[34mhrpsys�[0m':

k-okada · 2015-04-01T07:40:11Z

そうです．travisはメモリが少ないのででしょうがないです．-j1 にしたらいいんだけど，今度は時間かかりすぎて50分超えてしまう．
http://wiki.ros.org/rtmros_common#A.28travis.29_g.2B-.2B-:_internal_compiler_error:_Killed_.28program_cc1plus.29

今のところ失敗してももう一回繰り返すようにしていますが，
767f218
が入っていないと２回も動かないのでmergeしたほうがいいかもしれないです．
ただ，ここ，どうせ失敗したら先に行かないから無限ループでもいいかもしれないですね．

ちなみに再起動は金広さんしかできないとおもいます．

◉ Kei Okada

On Wed, Apr 1, 2015 at 3:53 PM, Isaac I.Y. Saito [email protected]
wrote:

travis 再起動中．log
https://s3.amazonaws.com/archive.travis-ci.org/jobs/56524367/log.txt
に以下エラーが頻出し，ぐぐるとメモリ不足で build がコケる事があるという人が居るので．

[0m[ 33%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/ImpedanceControllerService_impl.o
[0mg++: internal compiler error: Killed (program cc1plus)
[0mPlease submit a full bug report,
[0mwith preprocessed source if appropriate.
[0mSee file:///usr/share/doc/gcc-4.6/README.Bugs for instructions.
[0mmake[3]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/ImpedanceController.o] Error 4
[0mmake[3]: *** Waiting for unfinished jobs....
[0mmake[3]: Entering directory /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base' [0mmake[3]: Leaving directory/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
[0mmake[3]: Entering directory /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base' [0m[ 33%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/ImpedanceController.o [0mmake[3]: Leaving directory/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
[0mmake[2]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceController.dir/all] Error 2
[0mmake[2]: *** Waiting for unfinished jobs....
[0m[ 34%] Building CXX object rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/JointPathEx.o
[0mg++: internal compiler error: Killed (program cc1plus)
[0mPlease submit a full bug report,
[0mwith preprocessed source if appropriate.
[0mSee file:///usr/share/doc/gcc-4.6/README.Bugs for instructions.
[0mmake[3]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/ImpedanceController.o] Error 4
[0mmake[3]: *** Waiting for unfinished jobs....
[0mmake[3]: Leaving directory /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base' [0mmake[2]: *** [rtc/ImpedanceController/CMakeFiles/ImpedanceControllerComp.dir/all] Error 2 [0mmake[2]: Leaving directory/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
[0mmake[1]: *** [all] Error 2
[0mmake[1]: Leaving directory `/home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base'
[0m#
[0mgrep: /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base/install_manifest.txt: No such file or directory
[0m[31m[1mCMake Error[0m at catkin.cmake:47 (message):
[0m grep :
[0m /home/travis/hrpsys_ws/build_isolated/hrpsys/build/hrpsys-base/install_manifest.txt
[0m 0
[0m[36m[4mCall Stack (most recent call first):[0m
[0m CMakeLists.txt:2 (include)
[0m
[0m
[0m-- Configuring incomplete, errors occurred!
[0m[31m[1m<==[0m Failed to process package '[1m[34mhrpsys[0m':

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#543 (comment).

130s · 2015-04-01T08:08:19Z

なるほど．．FAQ ですね．

github からだと travis は PR の close->reopen で誰でも？テストを再起動できるようです．そして，本 PR はテストが通ったのでマージお願いします．

(hrpsys python) Correct relative rotation.

k-okada · 2015-04-01T09:24:05Z

github からだと travis は PR の close->reopen で誰でも？テストを再起動できるようです．

なんと！知りませんでした．

Isaac IY Saito added 2 commits March 31, 2015 14:53

(hrpsys python) Correct relative rotation.

b1f4444

(hrpsys_config.py) Better referencing to local getCurrentPose method.

487c7c6

130s force-pushed the fix/hironx_335 branch from 284818c to 487c7c6 Compare March 31, 2015 06:03

130s mentioned this pull request Mar 31, 2015

setTargetPoseRelative always fails tork-a/rtmros_nextage#160

Closed

130s mentioned this pull request Apr 1, 2015

yaw movement with setTargetPoseRelative actually moves roll start-jsk/rtmros_hironx#335

Closed

130s closed this Apr 1, 2015

130s reopened this Apr 1, 2015

fkanehiro added a commit that referenced this pull request Apr 1, 2015

Merge pull request #543 from 130s/fix/hironx_335

dac108b

(hrpsys python) Correct relative rotation.

fkanehiro merged commit dac108b into fkanehiro:master Apr 1, 2015

130s deleted the fix/hironx_335 branch April 1, 2015 16:02

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(hrpsys python) Correct relative rotation. #543

(hrpsys python) Correct relative rotation. #543

130s commented Mar 29, 2015

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130s commented Mar 31, 2015

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(hrpsys python) Correct relative rotation. #543

(hrpsys python) Correct relative rotation. #543

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