{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/135","labels_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/135/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/135/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/135/events","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/135","id":122893633,"number":135,"title":"srcを最新にしたら、choreonoidが上がらなくなった？","user":{"login":"YuOhara","id":7259700,"avatar_url":"https://avatars.githubusercontent.com/u/7259700?v=3","gravatar_id":"","url":"https://api.github.com/users/YuOhara","html_url":"https://github.com/YuOhara","followers_url":"https://api.github.com/users/YuOhara/followers","following_url":"https://api.github.com/users/YuOhara/following{/other_user}","gists_url":"https://api.github.com/users/YuOhara/gists{/gist_id}","starred_url":"https://api.github.com/users/YuOhara/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/YuOhara/subscriptions","organizations_url":"https://api.github.com/users/YuOhara/orgs","repos_url":"https://api.github.com/users/YuOhara/repos","events_url":"https://api.github.com/users/YuOhara/events{/privacy}","received_events_url":"https://api.github.com/users/YuOhara/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-12-18T07:02:49Z","updated_at":"2015-12-18T08:08:17Z","closed_at":null,"body":"apt-get update & upgrade + hrpsys, hrpsys_ros_bridge_tutorials等を最新にする\r\nと、choreonoidがjaxon_jvrc_choreonoidで上がらなくなってしまいました。\r\n後者のhrpsys系のupdateのあとに起こったので、おそらくそこが原因だと思うのですが、\r\n一方でsrcを古くしても治らないので（compileが足りないかもしれませんが、)確証はないです。\r\n下記がlogです。choreonoid側はすぐ落ちるので、出力が得られていないです。\r\n\r\n```\r\n^[[A^[[Aleus@leus-HP-Z620-Workstation:~$ roslaunch hrpsys_ros_bridge_jvrc jaxon_reonoid.launch TASK:=O1\r\nWARNING: Package name \"VSProjects\" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.\r\n... logging to /home/leus/.ros/log/86e9d0b8-a489-11e5-bf2b-a0481cabf72e/roslaunch-leus-HP-Z620-Workstation-27887.log\r\nChecking log directory for disk usage. This may take awhile.\r\nPress Ctrl-C to interrupt\r\nWARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB.\r\nIt's recommended that you use the 'rosclean' command.\r\n\r\nstarted roslaunch server http://leus-HP-Z620-Workstation:38716/\r\n\r\nSUMMARY\r\n========\r\n\r\nPARAMETERS\r\n * /HrpsysSeqStateROSBridge/publish_sensor_transforms: True\r\n * /chest_camera/CHESTCAMERA/camera_param_K: [85.7444, 0, 319....\r\n * /chest_camera/CHESTCAMERA/camera_param_P: [85.7444, 0, 319....\r\n * /chest_camera/CHESTCAMERA/frame_id: CHEST_CAMERA\r\n * /controller_configuration: [{'group_name': '...\r\n * /diagnostic_aggregator/analyzers/computers/contains: ['HD Temp', 'CPU ...\r\n * /diagnostic_aggregator/analyzers/computers/path: Computers\r\n * /diagnostic_aggregator/analyzers/computers/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/hrpsys/contains: ['hrpEC', 'Emerge...\r\n * /diagnostic_aggregator/analyzers/hrpsys/path: Hrpsys\r\n * /diagnostic_aggregator/analyzers/hrpsys/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/mode/contains: ['Operating Mode'...\r\n * /diagnostic_aggregator/analyzers/mode/path: Mode\r\n * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/analyzers/motor/contains: ['Motor']\r\n * /diagnostic_aggregator/analyzers/motor/path: Motor\r\n * /diagnostic_aggregator/analyzers/motor/type: diagnostic_aggreg...\r\n * /diagnostic_aggregator/base_path: \r\n * /diagnostic_aggregator/pub_rate: 1.0\r\n * /larm_camera/LARMCAMERA/camera_param_K: [417.031, 0, 319....\r\n * /larm_camera/LARMCAMERA/camera_param_P: [417.031, 0, 319....\r\n * /larm_camera/LARMCAMERA/frame_id: LARM_CAMERA\r\n * /larm_camera_n/LARMCAMERAN/camera_param_K: [417.031, 0, 319....\r\n * /larm_camera_n/LARMCAMERAN/camera_param_P: [417.031, 0, 319....\r\n * /larm_camera_n/LARMCAMERAN/frame_id: LARM_CAMERA_N\r\n * /multisense/left/HEADLEFT/camera_param_K: [240, 0, 319.5, 0...\r\n * /multisense/left/HEADLEFT/camera_param_P: [240, 0, 319.5, 0...\r\n * /multisense/left/HEADLEFT/frame_id: multisense/left_c...\r\n * /multisense/pointcloud_bridge/frame_id: multisense/left_c...\r\n * /multisense/pointcloud_bridge/publish_depth: True\r\n * /multisense/pointcloud_bridge/transformed_camera_frame: True\r\n * /multisense/range_bridge/frame_id: head_hokuyo_frame\r\n * /multisense/range_bridge/intensity: 1000\r\n * /rarm_camera/RARMCAMERA/camera_param_K: [879.192, 0, 319....\r\n * /rarm_camera/RARMCAMERA/camera_param_P: [879.192, 0, 319....\r\n * /rarm_camera/RARMCAMERA/frame_id: RARM_CAMERA\r\n * /rarm_camera_n/RARMCAMERAN/camera_param_K: [879.192, 0, 319....\r\n * /rarm_camera_n/RARMCAMERAN/camera_param_P: [879.192, 0, 319....\r\n * /rarm_camera_n/RARMCAMERAN/frame_id: RARM_CAMERA_N\r\n * /robot_description: <?xml version=\"1....\r\n * /rosdistro: indigo\r\n * /rosversion: 1.11.16\r\n * /use_sim_time: True\r\n\r\nNODES\r\n  /chest_camera/\r\n    CHESTCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n  /multisense/\r\n    pointcloud_bridge (hrpsys_ros_bridge/PointCloudROSBridge)\r\n    range_bridge (hrpsys_ros_bridge/RangeSensorROSBridge)\r\n  /\r\n    AutoBalancerServiceROSBridge (hrpsys_ros_bridge/AutoBalancerServiceROSBridgeComp)\r\n    DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)\r\n    EmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)\r\n    ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)\r\n    HardEmergencyStopperServiceROSBridge (hrpsys_ros_bridge/EmergencyStopperServiceROSBridgeComp)\r\n    HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)\r\n    HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)\r\n    ImpedanceControllerServiceROSBridge (hrpsys_ros_bridge/ImpedanceControllerServiceROSBridgeComp)\r\n    KalmanFilterServiceROSBridge (hrpsys_ros_bridge/KalmanFilterServiceROSBridgeComp)\r\n    RemoveForceSensorLinkOffsetServiceROSBridge (hrpsys_ros_bridge/RemoveForceSensorLinkOffsetServiceROSBridgeComp)\r\n    SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)\r\n    StabilizerServiceROSBridge (hrpsys_ros_bridge/StabilizerServiceROSBridgeComp)\r\n    StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)\r\n    choreonoid (hrpsys_choreonoid/run_choreonoid.sh)\r\n    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)\r\n    footcoords (jsk_footstep_controller/footcoords)\r\n    head_left_frame_id (tf/static_transform_publisher)\r\n    head_range_frame_id (tf/static_transform_publisher)\r\n    head_root_frame_id (tf/static_transform_publisher)\r\n    hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)\r\n    hrpsys_py (hrpsys_ros_bridge_jvrc/jaxon_jvrc_hrpsys_config.py)\r\n    hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)\r\n    hrpsys_state_publisher (robot_state_publisher/state_publisher)\r\n    modelloader (openhrp3/openhrp-model-loader)\r\n    rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)\r\n    rtmlaunch_vision_connect (openrtm_tools/rtmlaunch.py)\r\n    sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)\r\n    stabilizer_watcher (jsk_footstep_controller/stabilizer_watcher.py)\r\n  /rarm_camera_n/\r\n    RARMCAMERAN (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n  /larm_camera/\r\n    LARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n  /multisense/left/\r\n    HEADLEFT (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n  /rarm_camera/\r\n    RARMCAMERA (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n  /larm_camera_n/\r\n    LARMCAMERAN (hrpsys_ros_bridge/ImageSensorROSBridge)\r\n\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtconnect\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: unrecognized tag rtactivate\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"CHESTCAMERA\" ns=\"chest_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"CHEST_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:CHEST_CAMERA\" to=\"CHESTCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"CHESTCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"CHESTCAMERA\" ns=\"chest_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"CHEST_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[85.7444, 0, 319.5,  0, 85.7444, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[85.7444, 0, 319.5, 0,  0, 85.7444, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:CHEST_CAMERA\" to=\"CHESTCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"CHESTCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"LARMCAMERA\" ns=\"larm_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"LARM_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:LARM_CAMERA\" to=\"LARMCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"LARMCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"LARMCAMERA\" ns=\"larm_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"LARM_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:LARM_CAMERA\" to=\"LARMCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"LARMCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"LARMCAMERAN\" ns=\"larm_camera_n\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"LARM_CAMERA_N\"/>\r\n    <rosparam param=\"camera_param_K\">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:LARM_CAMERA_N\" to=\"LARMCAMERAN.rtc:timedImage\"/>\r\n    <rtactivate component=\"LARMCAMERAN.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"LARMCAMERAN\" ns=\"larm_camera_n\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"LARM_CAMERA_N\"/>\r\n    <rosparam param=\"camera_param_K\">[417.031, 0, 319.5,  0, 417.031, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[417.031, 0, 319.5, 0,  0, 417.031, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:LARM_CAMERA_N\" to=\"LARMCAMERAN.rtc:timedImage\"/>\r\n    <rtactivate component=\"LARMCAMERAN.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"RARMCAMERA\" ns=\"rarm_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"RARM_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:RARM_CAMERA\" to=\"RARMCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"RARMCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"RARMCAMERA\" ns=\"rarm_camera\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"RARM_CAMERA\"/>\r\n    <rosparam param=\"camera_param_K\">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:RARM_CAMERA\" to=\"RARMCAMERA.rtc:timedImage\"/>\r\n    <rtactivate component=\"RARMCAMERA.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"RARMCAMERAN\" ns=\"rarm_camera_n\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"RARM_CAMERA_N\"/>\r\n    <rosparam param=\"camera_param_K\">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:RARM_CAMERA_N\" to=\"RARMCAMERAN.rtc:timedImage\"/>\r\n    <rtactivate component=\"RARMCAMERAN.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"RARMCAMERAN\" ns=\"rarm_camera_n\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"RARM_CAMERA_N\"/>\r\n    <rosparam param=\"camera_param_K\">[879.192, 0, 319.5,  0, 879.192, 319.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[879.192, 0, 319.5, 0,  0, 879.192, 319.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:RARM_CAMERA_N\" to=\"RARMCAMERAN.rtc:timedImage\"/>\r\n    <rtactivate component=\"RARMCAMERAN.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"HEADLEFT\" ns=\"multisense/left\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"multisense/left_camera_optiocal_frame\"/>\r\n    <rosparam param=\"camera_param_K\">[240, 0, 319.5,  0, 240, 239.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[240, 0, 319.5, 0,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_LEFT_CAMERA\" to=\"HEADLEFT.rtc:timedImage\"/>\r\n    <rtactivate component=\"HEADLEFT.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"HEADLEFT\" ns=\"multisense/left\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"ImageSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"multisense/left_camera_optiocal_frame\"/>\r\n    <rosparam param=\"camera_param_K\">[240, 0, 319.5,  0, 240, 239.5,  0, 0, 1]</rosparam>\r\n    <rosparam param=\"camera_param_P\">[240, 0, 319.5, 0,  0, 240, 239.5, 0,  0, 0, 1, 0]</rosparam>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_LEFT_CAMERA\" to=\"HEADLEFT.rtc:timedImage\"/>\r\n    <rtactivate component=\"HEADLEFT.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"range_bridge\" ns=\"multisense\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"RangeSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"head_hokuyo_frame\"/>\r\n    <param name=\"intensity\" value=\"1000\"/>\r\n    <remap from=\"range\" to=\"lidar_scan\"/>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_RANGE\" to=\"RangeSensorROSBridge0.rtc:range\"/>\r\n    <rtactivate component=\"RangeSensorROSBridge0.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"range_bridge\" ns=\"multisense\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"RangeSensorROSBridge\">\r\n    <param name=\"frame_id\" value=\"head_hokuyo_frame\"/>\r\n    <param name=\"intensity\" value=\"1000\"/>\r\n    <remap from=\"range\" to=\"lidar_scan\"/>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_RANGE\" to=\"RangeSensorROSBridge0.rtc:range\"/>\r\n    <rtactivate component=\"RangeSensorROSBridge0.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtconnect' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"pointcloud_bridge\" ns=\"multisense\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"PointCloudROSBridge\">\r\n    <param name=\"frame_id\" value=\"multisense/left_camera_optiocal_frame\"/>\r\n    <param name=\"publish_depth\" value=\"true\"/>\r\n    <param name=\"transformed_camera_frame\" value=\"true\"/>\r\n    <remap from=\"points\" to=\"organized_image_points2_color\"/>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_LEFT_DEPTH\" to=\"PointCloudROSBridge0.rtc:points\"/>\r\n    <rtactivate component=\"PointCloudROSBridge0.rtc\"/>\r\n  </node>\r\nWARNING: WARN: unrecognized 'rtactivate' tag in <node> tag. Node xml is <node args=\"$(arg openrtm_args)\" name=\"pointcloud_bridge\" ns=\"multisense\" output=\"$(arg OUTPUT)\" pkg=\"hrpsys_ros_bridge\" type=\"PointCloudROSBridge\">\r\n    <param name=\"frame_id\" value=\"multisense/left_camera_optiocal_frame\"/>\r\n    <param name=\"publish_depth\" value=\"true\"/>\r\n    <param name=\"transformed_camera_frame\" value=\"true\"/>\r\n    <remap from=\"points\" to=\"organized_image_points2_color\"/>\r\n    <rtconnect from=\"JAXON_JVRC.rtc:HEAD_LEFT_DEPTH\" to=\"PointCloudROSBridge0.rtc:points\"/>\r\n    <rtactivate component=\"PointCloudROSBridge0.rtc\"/>\r\n  </node>\r\nROS_MASTER_URI=http://localhost:11311\r\n\r\ncore service [/rosout] found\r\nprocess[modelloader-1]: started with pid [27905]\r\nready\r\nprocess[choreonoid-2]: started with pid [27909]\r\n$ choreonoid /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_O1.cnoid\r\nwith rtc.conf file on /tmp/rtc.conf.choreonoid\r\n<BEGIN: rtc.conf>\r\nmanager.is_master:YES\r\ncorba.nameservers:localhost:2809\r\nnaming.formats:%n.rtc\r\nlogger.file_name:/tmp/rtc%p.log\r\nmanager.shutdown_onrtcs:NO\r\nmanager.modules.load_path:/home/leus/ros/indigo_parent/devel/share/hrpsys/lib\r\nmanager.modules.preload:.so\r\nmanager.components.precreate:\r\nexample.SequencePlayer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.ForwardKinematics.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.ImpedanceController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.AutoBalancer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.StateHolder.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.TorqueFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.TorqueController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.ThermoEstimator.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.ThermoLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.VirtualForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.AbsoluteForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.RemoveForceSensorLinkOffset.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.KalmanFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.Stabilizer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.CollisionDetector.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.SoftErrorLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.HGcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.PDcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.EmergencyStopper.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\nexample.RobotHardware.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf\r\n<END: rtc.conf>\r\nprocess[hrpsys_py-3]: started with pid [27916]\r\nprocess[HrpsysSeqStateROSBridge-4]: started with pid [27918]\r\nprocess[HrpsysJointTrajectoryBridge-5]: started with pid [27927]\r\nprocess[hrpsys_state_publisher-6]: started with pid [27961]\r\nloading /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl\r\nprocess[hrpsys_ros_diagnostics-7]: started with pid [28009]\r\nprocess[diagnostic_aggregator-8]: started with pid [28029]\r\nprocess[hrpsys_profile-9]: started with pid [28051]\r\nprocess[sensor_ros_bridge_connect-10]: started with pid [28054]\r\nconfiguration ORB with localhost:2809\r\n[hrpsys.py] waiting ModelLoader\r\n[hrpsys.py] start hrpsys\r\n[hrpsys.py] finding RTCManager and RobotHardware\r\nprocess[rtmlaunch_hrpsys_ros_bridge-11]: started with pid [28057]\r\nprocess[SequencePlayerServiceROSBridge-12]: started with pid [28071]\r\nprocess[DataLoggerServiceROSBridge-13]: started with pid [28080]\r\nprocess[ForwardKinematicsServiceROSBridge-14]: started with pid [28117]\r\nprocess[StateHolderServiceROSBridge-15]: started with pid [28168]\r\nprocess[AutoBalancerServiceROSBridge-16]: started with pid [28235]\r\nprocess[StabilizerServiceROSBridge-17]: started with pid [28273]\r\n[sensor_ros_bridge_connect.py]  start\r\nconfiguration ORB with localhost:2809\r\nprocess[KalmanFilterServiceROSBridge-18]: started with pid [28299]\r\nprocess[ImpedanceControllerServiceROSBridge-19]: started with pid [28334]\r\nprocess[RemoveForceSensorLinkOffsetServiceROSBridge-20]: started with pid [28359]\r\nprocess[EmergencyStopperServiceROSBridge-21]: started with pid [28391]\r\n/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/diagnostics.py:89: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.\r\n  pub = rospy.Publisher('diagnostics', DiagnosticArray)\r\nprocess[HardEmergencyStopperServiceROSBridge-22]: started with pid [28437]\r\nprocess[footcoords-23]: started with pid [28457]\r\nprocess[stabilizer_watcher-24]: started with pid [28479]\r\nprocess[rtmlaunch_vision_connect-25]: started with pid [28481]\r\nprocess[chest_camera/CHESTCAMERA-26]: started with pid [28482]\r\n/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py:88: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.\r\n  pub = rospy.Publisher('diagnostics', DiagnosticArray)\r\nprocess[larm_camera/LARMCAMERA-27]: started with pid [28515]\r\n[ WARN] [1450422295.104166361]: [HrpsysSeqStateROSBridge] use_hrpsys_time\r\nprocess[larm_camera_n/LARMCAMERAN-28]: started with pid [28552]\r\nprocess[rarm_camera/RARMCAMERA-29]: started with pid [28614]\r\n[rtmlaunch] starting...  /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch\r\n[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809\r\n[rtmlaunch] SIMULATOR_NAME JAXON_JVRC\r\nprocess[rarm_camera_n/RARMCAMERAN-30]: started with pid [28667]\r\n[ INFO] [1450422295.167195682]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0\r\nloading /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl\r\nprocess[multisense/left/HEADLEFT-31]: started with pid [28724]\r\nprocess[multisense/range_bridge-32]: started with pid [28784]\r\n[rtmlaunch] check connection/activation\r\nprocess[multisense/pointcloud_bridge-33]: started with pid [28842]\r\n[ INFO] [1450422295.247737800]: [RangeSensorROSBridge] @Initilize name : RangeSensorROSBridge0\r\nprocess[head_left_frame_id-34]: started with pid [28883]\r\n[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   0 /30\r\nprocess[head_range_frame_id-35]: started with pid [28922]\r\n[ INFO] [1450422295.276603170]: [PointCloudROSBridge] @Initilize name : PointCloudROSBridge0\r\nprocess[head_root_frame_id-36]: started with pid [28960]\r\n[ INFO] [1450422295.382932689]: [ImageSensorROSBridge] @Initilize name : CHESTCAMERA\r\n/home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:71: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.\r\n  g_odom_init_trigger_pub = rospy.Publisher(\"/odom_init_trigger\", Empty)\r\n/home/leus/ros/indigo/src/jsk-ros-pkg/jsk_control/jsk_footstep_controller/scripts/stabilizer_watcher.py:72: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.\r\n  g_robotsound_pub = rospy.Publisher(\"/robotsound\", SoundRequest)\r\n[ INFO] [1450422295.429876168]: [ImageSensorROSBridge] @Initilize name : LARMCAMERA\r\n[rtmlaunch] starting...  /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/launch/vision_connect.launch\r\n[rtmlaunch] RTCTREE_NAMESERVERS localhost:2809 localhost:2809\r\n[rtmlaunch] SIMULATOR_NAME Simulator\r\n[ INFO] [1450422295.476946950]: [ImageSensorROSBridge] @Initilize name : RARMCAMERAN\r\n[rtmlaunch] check connection/activation\r\n[ INFO] [1450422295.500522676]: [ImageSensorROSBridge] @Initilize name : LARMCAMERAN\r\n[ INFO] [1450422295.511979727]: [ImageSensorROSBridge] @Initilize name : HEADLEFT\r\n[ INFO] [1450422295.519633253]: [ImageSensorROSBridge] @Initilize name : RARMCAMERA\r\n[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA   0 /30\r\nHumanoid node\r\nJoint node WAIST\r\n  Segment node BODY\r\n    AccelerationSensorgsensor\r\n    Gyrogyrometer\r\n  Joint node CHEST_JOINT0\r\n    Segment node CHEST_LINK0\r\n    Joint node CHEST_JOINT1\r\n      Segment node CHEST_LINK1\r\n      Joint node CHEST_JOINT2\r\n        Segment node CHEST_LINK2\r\n        VisionSensorCHEST_CAMERA\r\n        Joint node HEAD_JOINT0\r\n          Segment node HEAD_LINK0\r\n          Joint node HEAD_JOINT1\r\n            Segment node HEAD_LINK1\r\n            VisionSensorHEAD_LEFT_CAMERA\r\n            VisionSensorHEAD_RIGHT_CAMERA\r\n            Joint node motor_joint\r\n              Segment node RANGE_LINK\r\n              RangeSensorHEAD_RANGE\r\n        Joint node LARM_JOINT0\r\n          Segment node LARM_LINK0\r\n          Joint node LARM_JOINT1\r\n            Segment node LARM_LINK1\r\n            Joint node LARM_JOINT2\r\n              Segment node LARM_LINK2\r\n              Joint node LARM_JOINT3\r\n                Segment node LARM_LINK3\r\n                Joint node LARM_JOINT4\r\n                  Segment node LARM_LINK4\r\n                  Joint node LARM_JOINT5\r\n                    Segment node LARM_LINK5\r\n                    Joint node LARM_JOINT6\r\n                      Segment node LARM_LINK6\r\n                      Joint node LARM_JOINT7\r\n                        Segment node LARM_LINK7\r\n                          ForceSensorlhsensor\r\n                        VisionSensorLARM_CAMERA\r\n                        VisionSensorLARM_CAMERA_N\r\n                        Joint node LARM_F_JOINT0\r\n                          Segment node LARM_FINGER0\r\n                        Joint node LARM_F_JOINT1\r\n                          Segment node LARM_FINGER1\r\n        Joint node RARM_JOINT0\r\n          Segment node RARM_LINK0\r\n          Joint node RARM_JOINT1\r\n            Segment node RARM_LINK1\r\n            Joint node RARM_JOINT2\r\n              Segment node RARM_LINK2\r\n              Joint node RARM_JOINT3\r\n                Segment node RARM_LINK3\r\n                Joint node RARM_JOINT4\r\n                  Segment node RARM_LINK4\r\n                  Joint node RARM_JOINT5\r\n                    Segment node RARM_LINK5\r\n                    Joint node RARM_JOINT6\r\n                      Segment node RARM_LINK6\r\n                      Joint node RARM_JOINT7\r\n                        Segment node RARM_LINK7\r\n                          ForceSensorrhsensor\r\n                        VisionSensorRARM_CAMERA\r\n                        VisionSensorRARM_CAMERA_N\r\n                        Joint node RARM_F_JOINT0\r\n                          Segment node RARM_FINGER0\r\n                        Joint node RARM_F_JOINT1\r\n                          Segment node RARM_FINGER1\r\n  Joint node LLEG_JOINT0\r\n    Segment node LLEG_LINK0\r\n    Joint node LLEG_JOINT1\r\n      Segment node LLEG_LINK1\r\n      Joint node LLEG_JOINT2\r\n        Segment node LLEG_LINK2\r\n        Joint node LLEG_JOINT3\r\n          Segment node LLEG_LINK3\r\n          Joint node LLEG_JOINT4\r\n            Segment node LLEG_LINK4\r\n            Joint node LLEG_JOINT5\r\n              Segment node LLEG_LINK5\r\n                ForceSensorlfsensor\r\n  Joint node RLEG_JOINT0\r\n    Segment node RLEG_LINK0\r\n    Joint node RLEG_JOINT1\r\n      Segment node RLEG_LINK1\r\n      Joint node RLEG_JOINT2\r\n        Segment node RLEG_LINK2\r\n        Joint node RLEG_JOINT3\r\n          Segment node RLEG_LINK3\r\n          Joint node RLEG_JOINT4\r\n            Segment node RLEG_LINK4\r\n            Joint node RLEG_JOINT5\r\n              Segment node RLEG_LINK5\r\n                ForceSensorrfsensor\r\n[hrpsys.py] wait for RTCmanager : None\r\n[hrpsys.py] wait for JAXON_JVRC : None ( timeout 0 < 10)\r\n[sensor_ros_bridge_connect.py] wait for RTCmanager : leus-HP-Z620-Workstation\r\n[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 0 < 10)\r\nHumanoid node\r\nJoint node WAIST\r\n  Segment node BODY\r\n    AccelerationSensorgsensor\r\n    Gyrogyrometer\r\n  Joint node CHEST_JOINT0\r\n    Segment node CHEST_LINK0\r\n    Joint node CHEST_JOINT1\r\n      Segment node CHEST_LINK1\r\n      Joint node CHEST_JOINT2\r\n        Segment node CHEST_LINK2\r\n        VisionSensorCHEST_CAMERA\r\n        Joint node HEAD_JOINT0\r\n          Segment node HEAD_LINK0\r\n          Joint node HEAD_JOINT1\r\n            Segment node HEAD_LINK1\r\n            VisionSensorHEAD_LEFT_CAMERA\r\n            VisionSensorHEAD_RIGHT_CAMERA\r\n            Joint node motor_joint\r\n              Segment node RANGE_LINK\r\n              RangeSensorHEAD_RANGE\r\n        Joint node LARM_JOINT0\r\n          Segment node LARM_LINK0\r\n          Joint node LARM_JOINT1\r\n            Segment node LARM_LINK1\r\n            Joint node LARM_JOINT2\r\n              Segment node LARM_LINK2\r\n              Joint node LARM_JOINT3\r\n                Segment node LARM_LINK3\r\n                Joint node LARM_JOINT4\r\n                  Segment node LARM_LINK4\r\n                  Joint node LARM_JOINT5\r\n                    Segment node LARM_LINK5\r\n                    Joint node LARM_JOINT6\r\n                      Segment node LARM_LINK6\r\n                      Joint node LARM_JOINT7\r\n                        Segment node LARM_LINK7\r\n                          ForceSensorlhsensor\r\n                        VisionSensorLARM_CAMERA\r\n                        VisionSensorLARM_CAMERA_N\r\n                        Joint node LARM_F_JOINT0\r\n                          Segment node LARM_FINGER0\r\n                        Joint node LARM_F_JOINT1\r\n                          Segment node LARM_FINGER1\r\n        Joint node RARM_JOINT0\r\n          Segment node RARM_LINK0\r\n          Joint node RARM_JOINT1\r\n            Segment node RARM_LINK1\r\n            Joint node RARM_JOINT2\r\n              Segment node RARM_LINK2\r\n              Joint node RARM_JOINT3\r\n                Segment node RARM_LINK3\r\n                Joint node RARM_JOINT4\r\n                  Segment node RARM_LINK4\r\n                  Joint node RARM_JOINT5\r\n                    Segment node RARM_LINK5\r\n                    Joint node RARM_JOINT6\r\n                      Segment node RARM_LINK6\r\n                      Joint node RARM_JOINT7\r\n                        Segment node RARM_LINK7\r\n                          ForceSensorrhsensor\r\n                        VisionSensorRARM_CAMERA\r\n                        VisionSensorRARM_CAMERA_N\r\n                        Joint node RARM_F_JOINT0\r\n                          Segment node RARM_FINGER0\r\n                        Joint node RARM_F_JOINT1\r\n                          Segment node RARM_FINGER1\r\n  Joint node LLEG_JOINT0\r\n    Segment node LLEG_LINK0\r\n    Joint node LLEG_JOINT1\r\n      Segment node LLEG_LINK1\r\n      Joint node LLEG_JOINT2\r\n        Segment node LLEG_LINK2\r\n        Joint node LLEG_JOINT3\r\n          Segment node LLEG_LINK3\r\n          Joint node LLEG_JOINT4\r\n            Segment node LLEG_LINK4\r\n            Joint node LLEG_JOINT5\r\n              Segment node LLEG_LINK5\r\n                ForceSensorlfsensor\r\n  Joint node RLEG_JOINT0\r\n    Segment node RLEG_LINK0\r\n    Joint node RLEG_JOINT1\r\n      Segment node RLEG_LINK1\r\n      Joint node RLEG_JOINT2\r\n        Segment node RLEG_LINK2\r\n        Joint node RLEG_JOINT3\r\n          Segment node RLEG_LINK3\r\n          Joint node RLEG_JOINT4\r\n            Segment node RLEG_LINK4\r\n            Joint node RLEG_JOINT5\r\n              Segment node RLEG_LINK5\r\n                ForceSensorrfsensor\r\nLoading body customizer \"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/JAXONCustomizer.so\" for JAXON_JVRC\r\nLoading body customizer \"/usr/lib/choreonoid-1.5/customizer/HoseCustomizer.so\" for hose\r\nLoading body customizer \"/usr/lib/choreonoid-1.5/customizer/CabinetBoxCustomizer.so\" for CABINETBOX\r\ncreate customizer : JAXON_JVRC\r\nPDcontroller0: onInitialize() \r\n[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   1 /30\r\n[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA   1 /30\r\n[hrpsys.py] wait for JAXON_JVRC : None ( timeout 1 < 10)\r\n[rtmlaunch] [ERROR] Could not Connect ( /localhost:2809/JAXON_JVRC.rtc:CHEST_CAMERA , /localhost:2809/CHESTCAMERA.rtc:timedImage ):  CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) \r\n/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh: line 50: 27949 Segmentation fault      (core dumped) choreonoid $cnoid_proj $start_sim\r\n[rtmlaunch] Wait for  /localhost:2809/CHESTCAMERA.rtc   0 /30\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/CHESTCAMERA.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/LARMCAMERA.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/LARMCAMERAN.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/RARMCAMERA.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/RARMCAMERAN.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/HEADLEFT.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/RangeSensorROSBridge0.rtc\r\n[rtmlaunch] Activate <- Inactive /localhost:2809/PointCloudROSBridge0.rtc\r\n[choreonoid-2] process has died [pid 27909, exit code 139, cmd /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/launch/run_choreonoid.sh /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_O1.cnoid --start-simulation -o manager.is_master:YES -o corba.nameservers:localhost:2809 -o naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -endless -realtime -o manager.shutdown_onrtcs:NO -o manager.modules.load_path:/home/leus/ros/indigo_parent/devel/share/hrpsys/lib -o manager.modules.preload:.so -o manager.components.precreate: -o example.SequencePlayer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ForwardKinematics.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ImpedanceController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AutoBalancer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.StateHolder.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.TorqueController.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoEstimator.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.ThermoLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.VirtualForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.AbsoluteForceSensor.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RemoveForceSensorLinkOffset.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.KalmanFilter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.Stabilizer.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.CollisionDetector.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.SoftErrorLimiter.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.HGcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.PDcontroller.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.EmergencyStopper.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf -o example.RobotHardware.config_file:/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/models/JAXON_JVRC.conf __name:=choreonoid __log:=/home/leus/.ros/log/86e9d0b8-a489-11e5-bf2b-a0481cabf72e/choreonoid-2.log].\r\nlog file: /home/leus/.ros/log/86e9d0b8-a489-11e5-bf2b-a0481cabf72e/choreonoid-2*.log\r\n[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 1 < 10)\r\nThe model was successfully loaded ! \r\nLoading body customizer \"/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so\" for \r\nLoading body customizer \"/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so\" for springJoint\r\ncache found for /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl\r\nduplicated sensor Id is specified(id = 0, name = HEAD_RANGE)\r\nduplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)\r\nduplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)\r\nduplicated sensor Id is specified(id = 3, name = lhsensor)\r\nduplicated sensor Id is specified(id = 5, name = LARM_CAMERA)\r\nduplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)\r\nduplicated sensor Id is specified(id = 2, name = rhsensor)\r\nduplicated sensor Id is specified(id = 3, name = RARM_CAMERA)\r\nduplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)\r\nduplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)\r\nduplicated sensor Id is specified(id = 1, name = lfsensor)\r\nduplicated sensor Id is specified(id = 0, name = rfsensor)\r\nduplicated sensor Id is specified(id = 0, name = gsensor)\r\nduplicated sensor Id is specified(id = 0, name = gyrometer)\r\n[ INFO] [1450422297.172799650]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done\r\n[rtmlaunch] Wait for  /localhost:2809/JAXON_JVRC.rtc:q   2 /30\r\n[rtmlaunch] [ERROR] Could not Connect ( /localhost:2809/JAXON_JVRC.rtc:q , /localhost:2809/HrpsysSeqStateROSBridge0.rtc:rsangle ):  CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE) \r\n[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc   0 /30\r\nThe model was successfully loaded ! \r\nLoading body customizer \"/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so\" for \r\nLoading body customizer \"/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so\" for springJoint\r\ncache found for /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl\r\nduplicated sensor Id is specified(id = 0, name = HEAD_RANGE)\r\nduplicated sensor Id is specified(id = 0, name = HEAD_LEFT_CAMERA)\r\nduplicated sensor Id is specified(id = 1, name = HEAD_RIGHT_CAMERA)\r\nduplicated sensor Id is specified(id = 3, name = lhsensor)\r\nduplicated sensor Id is specified(id = 5, name = LARM_CAMERA)\r\nduplicated sensor Id is specified(id = 6, name = LARM_CAMERA_N)\r\nduplicated sensor Id is specified(id = 2, name = rhsensor)\r\nduplicated sensor Id is specified(id = 3, name = RARM_CAMERA)\r\nduplicated sensor Id is specified(id = 4, name = RARM_CAMERA_N)\r\nduplicated sensor Id is specified(id = 2, name = CHEST_CAMERA)\r\nduplicated sensor Id is specified(id = 1, name = lfsensor)\r\nduplicated sensor Id is specified(id = 0, name = rfsensor)\r\nduplicated sensor Id is specified(id = 0, name = gsensor)\r\nduplicated sensor Id is specified(id = 0, name = gyrometer)\r\n0 physical force sensor : rfsensor\r\n1 physical force sensor : lfsensor\r\n2 physical force sensor : rhsensor\r\n3 physical force sensor : lhsensor\r\n0 acceleration sensor : gsensor\r\n0 rate sensor : gyrometer\r\n[HrpsysSeqStateROSBridge0] End Effector [rleg]RLEG_JOINT5 WAIST\r\n[HrpsysSeqStateROSBridge0]   target = RLEG_LINK5, sensor_name = rfsensor\r\n[HrpsysSeqStateROSBridge0]   localPos =     [0,  0,  -0.1][m]\r\n[HrpsysSeqStateROSBridge0] End Effector [lleg]LLEG_JOINT5 WAIST\r\n[HrpsysSeqStateROSBridge0]   target = LLEG_LINK5, sensor_name = lfsensor\r\n[HrpsysSeqStateROSBridge0]   localPos =     [0,  0,  -0.1][m]\r\n[HrpsysSeqStateROSBridge0] End Effector [rarm]RARM_JOINT7 CHEST_JOINT2\r\n[HrpsysSeqStateROSBridge0]   target = RARM_LINK7, sensor_name = rhsensor\r\n[HrpsysSeqStateROSBridge0]   localPos =     [0,  0.055,  -0.217][m]\r\n[HrpsysSeqStateROSBridge0] End Effector [larm]LARM_JOINT7 CHEST_JOINT2\r\n[HrpsysSeqStateROSBridge0]   target = LARM_LINK7, sensor_name = lhsensor\r\n[HrpsysSeqStateROSBridge0]   localPos =     [0,  -0.055,  -0.217][m]\r\n[ INFO] [1450422297.691184179]: [HrpsysSeqStateROSBridge] Loaded JAXON_JVRC\r\n[ INFO] [1450422297.691445015]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done\r\n[hrpsys.py] wait for JAXON_JVRC : None ( timeout 2 < 10)\r\n[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 2 < 10)\r\n^C[head_root_frame_id-36] killing on exit\r\n[head_range_frame_id-35] killing on exit\r\n[head_left_frame_id-34] killing on exit\r\n[multisense/pointcloud_bridge-33] killing on exit\r\n[multisense/range_bridge-32] killing on exit\r\n[multisense/left/HEADLEFT-31] killing on exit\r\n[rarm_camera_n/RARMCAMERAN-30] killing on exit\r\n[rarm_camera/RARMCAMERA-29] killing on exit\r\n[larm_camera_n/LARMCAMERAN-28] killing on exit\r\n[larm_camera/LARMCAMERA-27] killing on exit\r\n[rtmlaunch] Wait for  /localhost:2809/HrpsysSeqStateROSBridge0.rtc   1 /30\r\n[chest_camera/CHESTCAMERA-26] killing on exit\r\n[rtmlaunch_vision_connect-25] killing on exit\r\n[rtmlaunch] Catch signal 'SIGINT', exitting...\r\n[stabilizer_watcher-24] killing on exit\r\n[footcoords-23] killing on exit\r\n[HardEmergencyStopperServiceROSBridge-22] killing on exit\r\n[EmergencyStopperServiceROSBridge-21] killing on exit\r\n[RemoveForceSensorLinkOffsetServiceROSBridge-20] killing on exit\r\n[ImpedanceControllerServiceROSBridge-19] killing on exit\r\n[KalmanFilterServiceROSBridge-18] killing on exit\r\n[StabilizerServiceROSBridge-17] killing on exit\r\n[AutoBalancerServiceROSBridge-16] killing on exit\r\n[StateHolderServiceROSBridge-15] killing on exit\r\n[ForwardKinematicsServiceROSBridge-14] killing on exit\r\n[DataLoggerServiceROSBridge-13] killing on exit\r\n[hrpsys.py] wait for JAXON_JVRC : None ( timeout 3 < 10)\r\n[sensor_ros_bridge_connect.py] wait for JAXON_JVRC : None ( timeout 3 < 10)\r\n[SequencePlayerServiceROSBridge-12] killing on exit\r\n[rtmlaunch_hrpsys_ros_bridge-11] killing on exit\r\n[rtmlaunch] Catch signal 'SIGINT', exitting...\r\n[sensor_ros_bridge_connect-10] killing on exit\r\nTraceback (most recent call last):\r\n  File \"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py\", line 60, in <module>\r\n    initSensorRosBridgeConnection(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])\r\n  File \"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py\", line 41, in initSensorRosBridgeConnection\r\n    hcf.waitForRTCManagerAndRoboHardware(simulator_name, managerhost)\r\n  File \"/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py\", line 916, in waitForRTCManagerAndRoboHardware\r\n    self.waitForRobotHardware(robotname)\r\n  File \"/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py\", line 872, in waitForRobotHardware\r\n    time.sleep(1);\r\nKeyboardInterrupt\r\n[hrpsys_profile-9] killing on exit\r\n[diagnostic_aggregator-8] killing on exit\r\n[hrpsys_ros_diagnostics-7] killing on exit\r\n[hrpsys_state_publisher-6] killing on exit\r\n[HrpsysJointTrajectoryBridge-5] killing on exit\r\n[HrpsysSeqStateROSBridge-4] killing on exit\r\n[hrpsys_py-3] killing on exit\r\n[ INFO] [1450422298.992455336]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0\r\nTraceback (most recent call last):\r\n  File \"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/scripts/jaxon_jvrc_hrpsys_config.py\", line 50, in <module>\r\n    hcf.init(sys.argv[1], sys.argv[2])\r\n  File \"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py\", line 21, in init\r\n[modelloader-1] killing on exit\r\n    HrpsysConfigurator.init(self, robotname, url)\r\n  File \"/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py\", line 2060, in init\r\n    self.waitForRTCManagerAndRoboHardware(robotname)\r\n  File \"/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py\", line 916, in waitForRTCManagerAndRoboHardware\r\n    self.waitForRobotHardware(robotname)\r\n  File \"/home/leus/ros/indigo_parent/devel/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py\", line 872, in waitForRobotHardware\r\n    time.sleep(1);\r\nKeyboardInterrupt\r\nshutting down processing monitor...\r\n... shutting down processing monitor complete\r\ndone\r\nleus@leus-HP-Z620-Workstation:~$ \r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/comments/165710063","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/135#issuecomment-165710063","issue_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/135","id":165710063,"user":{"login":"YuOhara","id":7259700,"avatar_url":"https://avatars.githubusercontent.com/u/7259700?v=3","gravatar_id":"","url":"https://api.github.com/users/YuOhara","html_url":"https://github.com/YuOhara","followers_url":"https://api.github.com/users/YuOhara/followers","following_url":"https://api.github.com/users/YuOhara/following{/other_user}","gists_url":"https://api.github.com/users/YuOhara/gists{/gist_id}","starred_url":"https://api.github.com/users/YuOhara/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/YuOhara/subscriptions","organizations_url":"https://api.github.com/users/YuOhara/orgs","repos_url":"https://api.github.com/users/YuOhara/repos","events_url":"https://api.github.com/users/YuOhara/events{/privacy}","received_events_url":"https://api.github.com/users/YuOhara/received_events","type":"User","site_admin":false},"created_at":"2015-12-18T08:08:17Z","updated_at":"2015-12-18T08:08:17Z","body":"こちらは普通に上がりました。\n```\nleus@leus-HP-Z620-Workstation:~$ rosrun hrpsys_choreonoid run_choreonoid.sh\n/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_O1.cnoid\n$ choreonoid\n/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_O1.cnoid\nwith rtc.conf file on /tmp/rtc.conf.choreonoid\n<BEGIN: rtc.conf>\ncat: /tmp/rtc.conf.choreonoid: No such file or directory\n<END: rtc.conf>\nLoading body customizer\n\"/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_choreonoid/JAXONCustomizer.so\"\nfor JAXON_JVRC\nLoading body customizer\n\"/usr/lib/choreonoid-1.5/customizer/HoseCustomizer.so\" for hose\nLoading body customizer\n\"/usr/lib/choreonoid-1.5/customizer/CabinetBoxCustomizer.so\" for CABINETBOX\ncreate customizer : JAXON_JVRC\nPDcontroller0: onInitialize()\n\n```\n\n2015-12-18 16:33 GMT+09:00 Yohei Kakiuchi <notifications@github.com>:\n\n> 以下で、choreonoid単体で立ち上げてみるとどうなるでしょうか？\n>\n> rosrun hrpsys_choreonoid run_choreonoid.sh\n> /home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/hrpsys_ros_bridge_jvrc/config/JVRC_O1.cnoid\n>\n> —\n> Reply to this email directly or view it on GitHub\n> <https://github.com/start-jsk/rtmros_choreonoid/issues/135#issuecomment-165702597>\n> .\n>\n\n\n\n-- \nJSK in the University of Tokyo\nYu Ohara\nohara@jsk.imi.i.u-tokyo.ac.jp\n+81-3-5841-7416\n"}}