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jaxon.lが上手く生成されない #108

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Tnoriaki opened this issue Apr 23, 2015 · 17 comments
Open

jaxon.lが上手く生成されない #108

Tnoriaki opened this issue Apr 23, 2015 · 17 comments

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@Tnoriaki
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catkin build を行なってjaxon.lが上手く生成されず
roseus jaxon-interface.l
を行なって
(jaxon-init)
を行うと以下のようなエラーメッセージが出ます。
/opt/ros/hydro/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: float vector expected in (send-message self (class . super) :init-ending)

/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models
にあるjaxon.lを見ると
(defmethod JAXON-robot )の (:init-ending) の部分が生成されていません。(4968行目以降がない)

どうすればいいでしょうか?
euscolladaのバージョンは
Version: 0.1.11-0precise-20150409-0928-+0000
でrosはshadow-fixedのaptレポジトリからバイナリをインストールしてきました

@k-okada
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k-okada commented Apr 23, 2015

以下の文章が日本語にみえたら試してみて下さい.見え無かったら,もう1,2日待ってみて下さい.

http://repos.ros.org/repos/building/pool/main/r/ros-hydro-openhrp3/ros-hydro-openhrp3_3.1.8-0precise-20150422-1213-+0000_amd64.deb
を無理やりdpkg -i して,さらにrtmros_commonに以下のパッチをあてててどうなるかおしえてください.
start-jsk/rtmros_common#708

◉ Kei Okada

On Thu, Apr 23, 2015 at 3:52 PM, Takasugi Noriaki [email protected]
wrote:

catkin build を行なってjaxon.lが上手く生成されず
roseus jaxon-interface.l
を行なって
(jaxon-init)
を行うと以下のようなエラーメッセージが出ます。
/opt/ros/hydro/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error:
float vector expected in (send-message self (class . super) :init-ending)

/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models
にあるjaxon.lを見ると
(defmethod JAXON-robot )の (:init-ending) の部分が生成されていません。(4968行目以降がない)

どうすればいいでしょうか?
euscolladaのバージョンは
Version: 0.1.11-0precise-20150409-0928-+0000
でrosはshadow-fixedのaptレポジトリからバイナリをインストールしてきました


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#108.

@Tnoriaki
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dpkg -i ros-hydro-openhrp3_3.1.8-0precise-20150422-1213-+0000_amd64.deb
をして
hrpsys_ros_bridge/cmakeに変更を加えた後に、
hrpsys_ros_bridge_tutorials/ で 
 git clean -xfd
 rm ~/ros/hydro/build/hrpsys_ros_bridge_tutorials -rf
 catkin build --this
を行いましたがビルドは通らず途中までで出来たjaxon.lも
変更を加える前の時と変わりませんでした

@k-okada
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k-okada commented Apr 23, 2015

ログを見せて下さい.

◉ Kei Okada

On Thu, Apr 23, 2015 at 5:18 PM, Takasugi Noriaki [email protected]
wrote:

dpkg -i ros-hydro-openhrp3_3.1.8-0precise-20150422-1213-+0000_amd64.deb
をして
hrpsys_ros_bridge/cmakeに変更を加えた後に、
hrpsys_ros_bridge_tutorials/ で
git clean -xfd
rm ~/ros/hydro/build/hrpsys_ros_bridge_tutorials -rf
catkin build --this
を行いましたがビルドは通らず途中までで出来たjaxon.lも
変更を加える前の時と変わりませんでした


Reply to this email directly or view it on GitHub
#108 (comment)
.

@Tnoriaki
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rosbuild2回やっています

takasugi:hrpsys_ros_bridge_tutorials(master)$ catkin build --this
-------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/hydro
Workspace:                   /home/takasugi/ros/hydro
Source Space:       [exists] /home/takasugi/ros/hydro/src
Build Space:        [exists] /home/takasugi/ros/hydro/build
Devel Space:        [exists] /home/takasugi/ros/hydro/devel
Install Space:     [missing] /home/takasugi/ros/hydro/install
DESTDIR:                     None
-------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            False
Isolate Installs:            False
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------- 
Found '30' packages in 0.1 seconds. 
Starting ==> hrp2_models                                                                                                                                                
Finished <== hrp2_models                 [ 0.5 seconds ]                                                                                                                
Starting ==> hrpsys_ros_bridge_tutorials                                                                                                                                

[hrpsys_ros_bridge_tutorials] ==> '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials'
Scanning dependencies of target HRP2JSKNTS_model_generate
Scanning dependencies of target HRP2JSK_model_generate
Scanning dependencies of target HRP2JSKNT_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSKNTS_xacro_model_generate
[  1%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[  2%] [  3%] [  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
The "equivalentInertia" field of the Joint node is obsolete.
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Humanoid node
Joint node WAIST
Joint node WAIST
  Segment node RARM_LINK6
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
  Joint node R_THUMBCM_Y
      Joint node R_THUMBCM_P
      Segment node R_THUMBCM_Y_LINK
          Segment node R_THUMBCM_P_LINK
      Joint node R_THUMBCM_P
  Joint node R_INDEXMP_R
          Segment node R_THUMBCM_P_LINK
      Segment node R_INDEXMP_R_LINK
  Joint node R_INDEXMP_R
      Joint node R_INDEXMP_P
      Segment node R_INDEXMP_R_LINK
          Segment node R_INDEXMP_P_LINK
      Joint node R_INDEXMP_P
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
  Joint node R_MIDDLEPIP_R
              Segment node R_INDEXPIP_R_LINK
      Segment node R_MIDDLEPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[  4%] [  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
[  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
[  4%] Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
The "equivalentInertia" field of the Joint node is obsolete.
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
;; Adding gazebo description;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes

;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_L/HRP3HAND_Lmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_L/HRP3HAND_Lmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[  4%] [  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[ WARN] [1429776717.896068883]: could not find collada joint kmodel1/jointsid1000!
[ WARN] [1429776717.896964303]: could not find collada joint kmodel1/jointsid1000!
[  5%] [  6%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[ WARN] [1429776718.169802860]: could not find collada joint kmodel1/jointsid1000!
[ WARN] [1429776718.214251388]: could not find collada joint kmodel1/jointsid1000!

[  7%] [  8%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_body.urdf
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH.urdf
[ WARN] [1429776718.331104267]: could not find collada joint kmodel1/jointsid1000!

[ WARN] [1429776718.370439503]: could not find collada joint kmodel1/jointsid1000!
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
[ 10%] ;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[ WARN] [1429776718.527012863]: could not find collada joint kmodel1/jointsid1000!

[ 10%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_body.urdf
[ WARN] [1429776718.560037949]: could not find collada joint kmodel1/jointsid1000!

[ 11%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_body.urdf
[ 12%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH_SENSORS.urdf
[ 13%] [ 13%] Built target HRP2JSKNTS_model_generate
[ 13%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH.urdf
Scanning dependencies of target HRP2JSKNT_xacro_model_generate
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH.urdf
[ 13%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH.urdf
[ 13%] Built target HRP2JSK_model_generate
Scanning dependencies of target HRP2JSK_WH_SENSORS.urdf_generate
[ 15%] Built target HRP2JSK_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSKNTS_WH_SENSORS.urdf_generate
[ 15%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH_SENSORS.urdf
Traceback (most recent call last):
  File "/opt/ros/hydro/share/euscollada/scripts/add_sensor_to_collada.py", line 27, in <module>
    obj = parseXmlBase().readXmlFile(args.filename[0])
  File "/opt/ros/hydro/share/euscollada/scripts/parseColladaBase.py", line 62, in readXmlFile
    self.doc = xml.dom.minidom.parse(filename)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1920, in parse
    return expatbuilder.parse(file)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 924, in parse
    result = builder.parseFile(fp)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 211, in parseFile
    parser.Parse("", True)
xml.parsers.expat.ExpatError: no element found: line 1, column 0
[ 19%] Built target HRP2JSKNT_xacro_model_generate
Scanning dependencies of target HRP2JSKNT_model_generate
[ 22%] [ 22%] Built target HRP2JSKNT_model_generate
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH_SENSORS.urdf
Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_conf
[ 22%] [ 22%] Built target HRP2JSKNTS_xacro_model_generate
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_controller_config.yaml
Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_xml
[ 23%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.xml
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
[ 23%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_conf
make[2]: *** [/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH_SENSORS.urdf] Error 1
make[1]: *** [CMakeFiles/HRP2JSKNTS_WH_SENSORS.urdf_generate.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 23%] Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
[ 24%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_dae
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.RobotHardware.conf
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.RobotHardware.conf
[ 24%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_xml
[ 24%] Built target HRP2JSKNT_WH_SENSORS.urdf_generate
make: *** [all] Error 2
[hrpsys_ros_bridge_tutorials] <== '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'

Failed   <== hrpsys_ros_bridge_tutorials [ 20.7 seconds ]                                                                                                               
[build] There were '1' errors:                                                                                                                                          

Failed to build package 'hrpsys_ros_bridge_tutorials' because the following command:

# Command to reproduce:
cd /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials && /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

# Path to log:
cat /home/takasugi/ros/hydro/build/build_logs/hrpsys_ros_bridge_tutorials.log

Exited with return code: 2 

[build] Runtime: 21.5 seconds 
takasugi:hrpsys_ros_bridge_tutorials(master●)$ catkin build --this
-------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/hydro
Workspace:                   /home/takasugi/ros/hydro
Source Space:       [exists] /home/takasugi/ros/hydro/src
Build Space:        [exists] /home/takasugi/ros/hydro/build
Devel Space:        [exists] /home/takasugi/ros/hydro/devel
Install Space:     [missing] /home/takasugi/ros/hydro/install
DESTDIR:                     None
-------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            False
Isolate Installs:            False
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------- 
Found '30' packages in 0.0 seconds. 
Starting ==> hrp2_models                                                                                                                                                
Finished <== hrp2_models                 [ 0.1 seconds ]                                                                                                                
Starting ==> hrpsys_ros_bridge_tutorials                                                                                                                                

[hrpsys_ros_bridge_tutorials] ==> '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials'
[  4%] [  6%] Built target HRP2JSKNTS_xacro_model_generate
Built target HRP2JSKNTS_model_generate
[  9%] Built target HRP2JSK_model_generate
[ 14%] Built target HRP2JSKNT_WH_SENSORS.urdf_generate
[ 16%] [ 20%] [ 20%] Built target HRP2JSK_WH_SENSORS.urdf_generate
Built target HRP2JSKNT_xacro_model_generate
[ 22%] Built target HRP2JSKNT_model_generate
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH_SENSORS.urdf
[ 22%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_conf
[ 23%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_urdf
[ 24%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_dae
[ 25%] [ 26%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_conf
[ 26%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_dae
[ 27%] Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_xml
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_controller_config.yaml
[ 28%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.xml
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>[ 28%] HRP2JSKNT <Link>RARM_JOINT7
Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_conf
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_lisp
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.RobotHardware.conf
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.xml
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.RobotHardware.conf
[ 29%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_urdf
[ 30%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_urdf
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_urdf
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[ 31%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_dae
[ 31%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_dae
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_conf
[ 32%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_controller_config.yaml
[ 32%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_lisp
[ 33%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
[ 33%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_xml
[ 34%] [ 34%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_lisp
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.xml
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile_urdf
[ 34%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.RobotHardware.conf
[ 34%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
[ 38%] Built target HRP2JSKNTS_WH_SENSORS.urdf_generate
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile_lisp
Collada Info: joint type free not supported
[ 38%] Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.RobotHardware.conf
[ 38%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile_dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
[ 38%]                       Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[ 38%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile_conf
[ 39%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_controller_config.yaml
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
[ 39%] Collada Info: joint type free not supported
Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_conf
[ 40%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile_xml
[ 41%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.xml
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[ERROR] [1429777168.690922119]: COLLADA error: Extra content at the end of the document
[ERROR] [1429777168.692190602]: COLLADA error: Failed to load XML document from memory
ERROR: Model Parsing the xml failed
make[2]: *** [/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf] Error 255
make[1]: *** [CMakeFiles/hrp2w_hrpsys_ros_bridge_tutorials_compile_urdf.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 41%] Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.xml
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint CHEST_JOINT0(0) CHEST_JOINT1(1) HEAD_JOINT0(2) HEAD_JOINT1(3) RARM_JOINT0(4) RARM_JOINT1(5) RARM_JOINT2(6) RARM_JOINT3(7) RARM_JOINT4(8) RARM_JOINT5(9) RARM_JOINT6(10) RARM_JOINT7(11) LARM_JOINT0(12) LARM_JOINT1(13) LARM_JOINT2(14) LARM_JOINT3(15) LARM_JOINT4(16) LARM_JOINT5(17) LARM_JOINT6(18) LARM_JOINT7(19)
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                  VisionSensorCAMERA_L
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.RobotHardware.conf
[ 42%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2w.l
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint CHEST_JOINT0(0) CHEST_JOINT1(1) HEAD_JOINT0(2) HEAD_JOINT1(3) RARM_JOINT0(4) RARM_JOINT1(5) RARM_JOINT2(6) RARM_JOINT3(7) RARM_JOINT4(8) RARM_JOINT5(9) RARM_JOINT6(10) RARM_JOINT7(11) LARM_JOINT0(12) LARM_JOINT1(13) LARM_JOINT2(14) LARM_JOINT3(15) LARM_JOINT4(16) LARM_JOINT5(17) LARM_JOINT6(18) LARM_JOINT7(19)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.RobotHardware.conf
[ 42%] /opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_xml
[ 42%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_dae
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor3 1
Sensor CAMERA_C is attached to HEAD_LINK1 base_pinhole_camera #sensor4 2
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 0
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 1
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor1 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor2 0
[ 42%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_lisp
make: *** [all] Error 2
[hrpsys_ros_bridge_tutorials] <== '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'

Failed   <== hrpsys_ros_bridge_tutorials [ 2.8 seconds ]                                                                                                                
[build] There were '1' errors:                                                                                                                                          

Failed to build package 'hrpsys_ros_bridge_tutorials' because the following command:

# Command to reproduce:
cd /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials && /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

# Path to log:
cat /home/takasugi/ros/hydro/build/build_logs/hrpsys_ros_bridge_tutorials.log

Exited with return code: 2 

[build] Runtime: 3.0 seconds 
takasugi:hrpsys_ros_bridge_tutorials(master●)$ catkin build --this
-------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/hydro
Workspace:                   /home/takasugi/ros/hydro
Source Space:       [exists] /home/takasugi/ros/hydro/src
Build Space:        [exists] /home/takasugi/ros/hydro/build
Devel Space:        [exists] /home/takasugi/ros/hydro/devel
Install Space:     [missing] /home/takasugi/ros/hydro/install
DESTDIR:                     None
-------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            False
Isolate Installs:            False
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------- 
Found '30' packages in 0.0 seconds. 
Starting ==> hrp2_models                                                                                                                                                
Finished <== hrp2_models                 [ 0.2 seconds ]                                                                                                                
Starting ==> hrpsys_ros_bridge_tutorials                                                                                                                                

[hrpsys_ros_bridge_tutorials] ==> '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials'
[  5%] [  5%] Built target HRP2JSKNTS_model_generate
Built target HRP2JSK_model_generate
[ 13%] [ 14%] Built target HRP2JSKNT_WH_SENSORS.urdf_generate
Built target HRP2JSKNTS_xacro_model_generate
[ 18%] [ 20%] Built target HRP2JSKNT_xacro_model_generate
[ 24%] [ 26%] Built target HRP2JSK_WH_SENSORS.urdf_generate
Built target HRP2JSKNTS_WH_SENSORS.urdf_generate
Built target HRP2JSKNT_model_generate
[ 26%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_conf
[ 28%] [ 28%] [ 29%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_xml
Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_dae
Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_urdf
[ 30%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile_lisp
[ 31%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_conf
[ 31%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_dae
[ 32%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_xml
[ 33%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_lisp
[ 35%] [ 35%] [ 35%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile_urdf
Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_urdf
Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_dae
[ 36%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_conf
[ 38%] [ 38%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_xml
Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile_lisp
[ 39%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
[ 40%] [ 41%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_conf
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_lisp
[ 41%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_dae
Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_dae
[ 42%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_xml
[ 43%] [ 43%] Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_urdf
Built target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
[ 44%] Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_xml
Built target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_urdf
[ 44%] Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_conf
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.xml
[ 45%] The "equivalentInertia" field of the Joint node is obsolete.
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_controller_config.yaml
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint L_THUMBCM_Y(0) L_THUMBCM_P(1) L_INDEXMP_R(2) L_INDEXMP_P(3) L_INDEXPIP_R(4) L_MIDDLEPIP_R(5)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.RobotHardware.conf
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.xml
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint L_THUMBCM_Y(0) L_THUMBCM_P(1) L_INDEXMP_R(2) L_INDEXMP_P(3) L_INDEXPIP_R(4) L_MIDDLEPIP_R(5)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.RobotHardware.conf
[ 46%] [ 46%] Built target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_xml
Built target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_dae
[ 46%] [ 47%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_dae
[ 48%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_controller_config.yaml
Built target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_urdf
[ 49%] Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_xml
Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_urdf
[ 50%] Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_lisp
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.xml
[ 50%] The "equivalentInertia" field of the Joint node is obsolete.
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
Humanoid node
Joint node WAIST
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
      Joint node R_THUMBCM_P
          Segment node R_THUMBCM_P_LINK
  Joint node R_INDEXMP_R
      Segment node R_INDEXMP_R_LINK
      Joint node R_INDEXMP_P
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
[ 50%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_conf
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint R_THUMBCM_Y(0) R_THUMBCM_P(1) R_INDEXMP_R(2) R_INDEXMP_P(3) R_INDEXPIP_R(4) R_MIDDLEPIP_R(5)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.RobotHardware.conf
Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_dae
[ 50%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.xml
[ 50%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
The "equivalentInertia" field of the Joint node is obsolete.
tmpinfo.name         = leftarm
tmpinfo.basename     = L_SHOULDER_P_LINK
tmpinfo.effectorname = L_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = L_HAND_J0
tmpinfo.gripperdir = -1
tmpinfo.grippernames = L_HAND_J1
tmpinfo.gripperdir = -1
tmpinfo.name         = rightarm
tmpinfo.basename     = R_SHOULDER_P_LINK
tmpinfo.effectorname = R_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = R_HAND_J0
tmpinfo.gripperdir = 1
tmpinfo.grippernames = R_HAND_J1
tmpinfo.gripperdir = 1
Humanoid node
Joint node WAIST
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
      Joint node R_THUMBCM_P
          Segment node R_THUMBCM_P_LINK
  Joint node R_INDEXMP_R
      Segment node R_INDEXMP_R_LINK
      Joint node R_INDEXMP_P
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
The "equivalentInertia" field of the Joint node is obsolete.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint R_THUMBCM_Y(0) R_THUMBCM_P(1) R_INDEXMP_R(2) R_INDEXMP_P(3) R_INDEXPIP_R(4) R_MIDDLEPIP_R(5)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.RobotHardware.conf
[ 50%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_xml
[ WARN] [1429777173.768621920]: could not find collada joint kmodel1/jointsid1000!

Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_urdf
[ 50%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
tmpinfo.name         = leftarm
tmpinfo.basename     = L_SHOULDER_P_LINK
tmpinfo.effectorname = L_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = L_HAND_J0
tmpinfo.gripperdir = -1
tmpinfo.grippernames = L_HAND_J1
tmpinfo.gripperdir = -1
tmpinfo.name         = rightarm
tmpinfo.basename     = R_SHOULDER_P_LINK
tmpinfo.effectorname = R_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = R_HAND_J0
tmpinfo.gripperdir = 1
tmpinfo.grippernames = R_HAND_J1
tmpinfo.gripperdir = 1
[ 50%] The "equivalentInertia" field of the Joint node is obsolete.
Built target hrp2w_hrpsys_ros_bridge_tutorials_compile_urdf
[ 51%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_conf
[ 52%] [ 53%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_controller_config.yaml
The "equivalentInertia" field of the Joint node is obsolete.
[ 53%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_lisp
[ 53%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
tmpinfo.name         = leftarm
tmpinfo.basename     = L_SHOULDER_P_LINK
tmpinfo.effectorname = L_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = L_HAND_J0
tmpinfo.gripperdir = -1
tmpinfo.grippernames = L_HAND_J1
tmpinfo.gripperdir = -1
tmpinfo.name         = rightarm
tmpinfo.basename     = R_SHOULDER_P_LINK
tmpinfo.effectorname = R_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = R_HAND_J0
tmpinfo.gripperdir = 1
tmpinfo.grippernames = R_HAND_J1
tmpinfo.gripperdir = 1
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node R_HIP_Y
      Segment node R_HIP_Y_LINK
      Joint node R_HIP_R
          Segment node R_HIP_R_LINK
          Joint node R_HIP_P
              Segment node R_HIP_P_LINK
              Joint node R_KNEE_P
                  Segment node R_KNEE_P_LINK
                  Joint node R_ANKLE_P
                      Segment node R_ANKLE_P_LINK
                      Joint node R_ANKLE_R
                          Segment node R_ANKLE_R_LINK
                            ForceSensorrfsensor
                          Joint node R_FOOT
                            Segment node R_FOOT_LINK
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
              Segment node L_HIP_P_LINK
              Joint node L_KNEE_P
                  Segment node L_KNEE_P_LINK
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
                      Joint node L_ANKLE_R
                          Segment node L_ANKLE_R_LINK
                            ForceSensorlfsensor
                          Joint node L_FOOT
                            Segment node L_FOOT_LINK
  Joint node CHEST_P
      Segment node CHEST_P_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
          Joint node NECK_Y
              Segment node NECK_Y_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
          Joint node R_SHOULDER_P
              Segment node R_SHOULDER_P_LINK
              Joint node R_SHOULDER_R
                  Segment node R_SHOULDER_R_LINK
                  Joint node R_SHOULDER_Y
                      Segment node R_SHOULDER_Y_LINK
                      Joint node R_ELBOW_P
                          Segment node R_ELBOW_P_LINK
                          Joint node R_WRIST_Y
                              Segment node R_WRIST_Y_LINK
                              Joint node R_WRIST_P
                                  Segment node R_WRIST_P_LINK
                                  Joint node R_WRIST_R
                                      Segment node R_WRIST_R_LINK
                                      Joint node R_HAND_J0
                                          Segment node R_HAND_J0_LINK
                                      Joint node R_HAND_J1
                                          Segment node R_HAND_J1_LINK
                                          Joint node R_F22
                                              Segment node R_F22_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                                              Joint node R_F33
                                                  Segment node R_F33_LINK
                                          Joint node R_F42
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                                                  Segment node R_F43_LINK
                                          Joint node R_F52
                                              Segment node R_F52_LINK
                                              Joint node R_F53
                                                  Segment node R_F53_LINK
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
              Joint node L_SHOULDER_R
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node R_HIP_Y
      Segment node R_HIP_Y_LINK
      Joint node R_HIP_R
Humanoid node
Joint node WAIST
Humanoid node
  Segment node BODY
Joint node WAIST
    AccelerationSensorgsensor
  Segment node BODY
    Gyrogyrometer
    AccelerationSensorgsensor
  Joint node R_HIP_Y
    Gyrogyrometer
      Segment node R_HIP_Y_LINK
      Joint node R_HIP_R
  Joint node R_HIP_Y
          Segment node R_HIP_R_LINK
      Segment node R_HIP_Y_LINK
          Joint node R_HIP_P
              Segment node R_HIP_P_LINK
      Joint node R_HIP_R
              Joint node R_KNEE_P
                  Segment node R_KNEE_P_LINK
          Segment node R_HIP_R_LINK
                  Joint node R_ANKLE_P
                      Segment node R_ANKLE_P_LINK
          Joint node R_HIP_P
                      Joint node R_ANKLE_R
                          Segment node R_ANKLE_R_LINK
              Segment node R_HIP_P_LINK
                            ForceSensorrfsensor
                          Joint node R_FOOT
              Joint node R_KNEE_P
                            Segment node R_FOOT_LINK
                  Segment node R_KNEE_P_LINK
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
              Segment node L_HIP_P_LINK
              Joint node L_KNEE_P
                  Segment node L_KNEE_P_LINK
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
                      Joint node L_ANKLE_R
                          Segment node L_ANKLE_R_LINK
                            ForceSensorlfsensor
                          Joint node L_FOOT
                            Segment node L_FOOT_LINK
  Joint node CHEST_P
      Segment node CHEST_P_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
          Joint node NECK_Y
              Segment node NECK_Y_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
          Joint node R_SHOULDER_P
              Segment node R_SHOULDER_P_LINK
              Joint node R_SHOULDER_R
                  Segment node R_SHOULDER_R_LINK
                  Joint node R_SHOULDER_Y
                      Segment node R_SHOULDER_Y_LINK
                      Joint node R_ELBOW_P
                          Segment node R_ELBOW_P_LINK
                          Joint node R_WRIST_Y
                              Segment node R_WRIST_Y_LINK
                              Joint node R_WRIST_P
                                  Segment node R_WRIST_P_LINK
                                  Joint node R_WRIST_R
                                      Segment node R_WRIST_R_LINK
                                      Joint node R_HAND_J0
                                          Segment node R_HAND_J0_LINK
                                      Joint node R_HAND_J1
                                          Segment node R_HAND_J1_LINK
                                          Joint node R_F22
                                              Segment node R_F22_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                                              Joint node R_F33
                                                  Segment node R_F33_LINK
                                          Joint node R_F42
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                                                  Segment node R_F43_LINK
                                          Joint node R_F52
                                              Segment node R_F52_LINK
                                              Joint node R_F53
                                                  Segment node R_F53_LINK
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
              Joint node L_SHOULDER_R
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
          Segment node R_HIP_R_LINK
          Joint node R_HIP_P
              Segment node R_HIP_P_LINK
              Joint node R_KNEE_P
                  Segment node R_KNEE_P_LINK
                  Joint node R_ANKLE_P
                      Segment node R_ANKLE_P_LINK
                      Joint node R_ANKLE_R
                          Segment node R_ANKLE_R_LINK
                            ForceSensorrfsensor
                          Joint node R_FOOT
                            Segment node R_FOOT_LINK
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
              Segment node L_HIP_P_LINK
              Joint node L_KNEE_P
                  Segment node L_KNEE_P_LINK
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
                      Joint node L_ANKLE_R
                          Segment node L_ANKLE_R_LINK
                            ForceSensorlfsensor
                          Joint node L_FOOT
                            Segment node L_FOOT_LINK
  Joint node CHEST_P
      Segment node CHEST_P_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
          Joint node NECK_Y
              Segment node NECK_Y_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
          Joint node R_SHOULDER_P
              Segment node R_SHOULDER_P_LINK
              Joint node R_SHOULDER_R
                  Segment node R_SHOULDER_R_LINK
                  Joint node R_SHOULDER_Y
                      Segment node R_SHOULDER_Y_LINK
                      Joint node R_ELBOW_P
                          Segment node R_ELBOW_P_LINK
                          Joint node R_WRIST_Y
                              Segment node R_WRIST_Y_LINK
                              Joint node R_WRIST_P
                                  Segment node R_WRIST_P_LINK
                                  Joint node R_WRIST_R
                                      Segment node R_WRIST_R_LINK
                                      Joint node R_HAND_J0
                                          Segment node R_HAND_J0_LINK
                                      Joint node R_HAND_J1
                                          Segment node R_HAND_J1_LINK
                                          Joint node R_F22
                                              Segment node R_F22_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                                              Joint node R_F33
                                                  Segment node R_F33_LINK
                                          Joint node R_F42
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                                                  Segment node R_F43_LINK
                                          Joint node R_F52
                                              Segment node R_F52_LINK
                                              Joint node R_F53
                                                  Segment node R_F53_LINK
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
              Joint node L_SHOULDER_R
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
                  Joint node R_ANKLE_P
                      Segment node R_ANKLE_P_LINK
                      Joint node R_ANKLE_R
                          Segment node R_ANKLE_R_LINK
                            ForceSensorrfsensor
                          Joint node R_FOOT
                            Segment node R_FOOT_LINK
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
              Segment node L_HIP_P_LINK
              Joint node L_KNEE_P
                  Segment node L_KNEE_P_LINK
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
                      Joint node L_ANKLE_R
                          Segment node L_ANKLE_R_LINK
                            ForceSensorlfsensor
                          Joint node L_FOOT
                            Segment node L_FOOT_LINK
  Joint node CHEST_P
      Segment node CHEST_P_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
          Joint node NECK_Y
              Segment node NECK_Y_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
          Joint node R_SHOULDER_P
              Segment node R_SHOULDER_P_LINK
              Joint node R_SHOULDER_R
                  Segment node R_SHOULDER_R_LINK
                  Joint node R_SHOULDER_Y
                      Segment node R_SHOULDER_Y_LINK
                      Joint node R_ELBOW_P
                          Segment node R_ELBOW_P_LINK
                          Joint node R_WRIST_Y
                              Segment node R_WRIST_Y_LINK
                              Joint node R_WRIST_P
                                  Segment node R_WRIST_P_LINK
                                  Joint node R_WRIST_R
                                      Segment node R_WRIST_R_LINK
                                      Joint node R_HAND_J0
                                          Segment node R_HAND_J0_LINK
                                      Joint node R_HAND_J1
                                          Segment node R_HAND_J1_LINK
                                          Joint node R_F22
                                              Segment node R_F22_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                                              Joint node R_F33
                                                  Segment node R_F33_LINK
                                          Joint node R_F42
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                                                  Segment node R_F43_LINK
                                          Joint node R_F52
                                              Segment node R_F52_LINK
                                              Joint node R_F53
                                                  Segment node R_F53_LINK
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
              Joint node L_SHOULDER_R
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Warning:  Joint ID is not given to joint R_F22 of model HRP4R.
Warning:  Joint ID is not given to joint R_F23 of model HRP4R.
Warning:  Joint ID is not given to joint R_F32 of model HRP4R.
Warning:  Joint ID is not given to joint R_F33 of model HRP4R.
Warning:  Joint ID is not given to joint R_F42 of model HRP4R.
Warning:  Joint ID is not given to joint R_F43 of model HRP4R.
Warning:  Joint ID is not given to joint R_F52 of model HRP4R.
Warning:  Joint ID is not given to joint R_F53 of model HRP4R.
Warning:  Joint ID is not given to joint L_F22 of model HRP4R.
Warning:  Joint ID is not given to joint L_F23 of model HRP4R.
Warning:  Joint ID is not given to joint L_F32 of model HRP4R.
Warning:  Joint ID is not given to joint L_F33 of model HRP4R.
Warning:  Joint ID is not given to joint L_F42 of model HRP4R.
Warning:  Joint ID is not given to joint L_F43 of model HRP4R.
Warning:  Joint ID is not given to joint L_F52 of model HRP4R.
Warning:  Joint ID is not given to joint L_F53 of model HRP4R.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint R_HIP_Y(0) R_HIP_R(1) R_HIP_P(2) R_KNEE_P(3) R_ANKLE_P(4) R_ANKLE_R(5) L_HIP_Y(6) L_HIP_R(7) L_HIP_P(8) L_KNEE_P(9) L_ANKLE_P(10) L_ANKLE_R(11) CHEST_P(12) CHEST_Y(13) NECK_Y(14) NECK_P(15) R_SHOULDER_P(16) R_SHOULDER_R(17) R_SHOULDER_Y(18) R_ELBOW_P(19) R_WRIST_Y(20) R_WRIST_P(21) R_WRIST_R(22) R_HAND_J0(23) R_HAND_J1(24) L_SHOULDER_P(25) L_SHOULDER_R(26)Collada Info: joint type free not supported
 L_SHOULDER_YCollada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
(27) L_ELBOW_P(28) L_WRIST_Y(29) L_WRIST_P(30) L_WRIST_R(31) L_HAND_J0(32) L_HAND_J1(33)
Collada Info: joint type free not supported
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.RobotHardware.conf
[ 54%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.xml
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node R_HIP_Y
      Segment node R_HIP_Y_LINK
      Joint node R_HIP_R
          Segment node R_HIP_R_LINK
          Joint node R_HIP_P
              Segment node R_HIP_P_LINK
              Joint node R_KNEE_P
                  Segment node R_KNEE_P_LINK
                  Joint node R_ANKLE_P
                      Segment node R_ANKLE_P_LINK
                      Joint node R_ANKLE_R
                          Segment node R_ANKLE_R_LINK
                            ForceSensorrfsensor
                          Joint node R_FOOT
                            Segment node R_FOOT_LINK
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
              Segment node L_HIP_P_LINK
              Joint node L_KNEE_P
                  Segment node L_KNEE_P_LINK
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
                      Joint node L_ANKLE_R
                          Segment node L_ANKLE_R_LINK
                            ForceSensorlfsensor
                          Joint node L_FOOT
                            Segment node L_FOOT_LINK
  Joint node CHEST_P
      Segment node CHEST_P_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
          Joint node NECK_Y
              Segment node NECK_Y_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
          Joint node R_SHOULDER_P
              Segment node R_SHOULDER_P_LINK
              Joint node R_SHOULDER_R
                  Segment node R_SHOULDER_R_LINK
                  Joint node R_SHOULDER_Y
                      Segment node R_SHOULDER_Y_LINK
                      Joint node R_ELBOW_P
                          Segment node R_ELBOW_P_LINK
                          Joint node R_WRIST_Y
                              Segment node R_WRIST_Y_LINK
                              Joint node R_WRIST_P
                                  Segment node R_WRIST_P_LINK
                                  Joint node R_WRIST_R
                                      Segment node R_WRIST_R_LINK
                                      Joint node R_HAND_J0
                                          Segment node R_HAND_J0_LINK
                                      Joint node R_HAND_J1
                                          Segment node R_HAND_J1_LINK
                                          Joint node R_F22
                                              Segment node R_F22_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                                              Joint node R_F33
                                                  Segment node R_F33_LINK
                                          Joint node R_F42
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                                                  Segment node R_F43_LINK
                                          Joint node R_F52
                                              Segment node R_F52_LINK
                                              Joint node R_F53
                                                  Segment node R_F53_LINK
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
              Joint node L_SHOULDER_R
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
Warning:  Joint ID is not given to joint R_F22 of model HRP4R.
Warning:  Joint ID is not given to joint R_F23 of model HRP4R.
Warning:  Joint ID is not given to joint R_F32 of model HRP4R.
Warning:  Joint ID is not given to joint R_F33 of model HRP4R.
Warning:  Joint ID is not given to joint R_F42 of model HRP4R.
Warning:  Joint ID is not given to joint R_F43 of model HRP4R.
Warning:  Joint ID is not given to joint R_F52 of model HRP4R.
Warning:  Joint ID is not given to joint R_F53 of model HRP4R.
Warning:  Joint ID is not given to joint L_F22 of model HRP4R.
Warning:  Joint ID is not given to joint L_F23 of model HRP4R.
Warning:  Joint ID is not given to joint L_F32 of model HRP4R.
Warning:  Joint ID is not given to joint L_F33 of model HRP4R.
Warning:  Joint ID is not given to joint L_F42 of model HRP4R.
Warning:  Joint ID is not given to joint L_F43 of model HRP4R.
Warning:  Joint ID is not given to joint L_F52 of model HRP4R.
Warning:  Joint ID is not given to joint L_F53 of model HRP4R.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint R_HIP_Y(0) R_HIP_R(1) R_HIP_P(2) R_KNEE_P(3) R_ANKLE_P(4) R_ANKLE_R(5) L_HIP_Y(6) L_HIP_R(7) L_HIP_P(8) L_KNEE_P(9) L_ANKLE_P(10) L_ANKLE_R(11) CHEST_P(12) CHEST_Y(13) NECK_Y(14) NECK_P(15) R_SHOULDER_P(16) R_SHOULDER_R(17) R_SHOULDER_Y(18) R_ELBOW_P(19) R_WRIST_Y(20) R_WRIST_P(21) R_WRIST_R(22) R_HAND_J0(23) R_HAND_J1(24) L_SHOULDER_P(25) L_SHOULDER_R(26) L_SHOULDER_Y(27) L_ELBOW_P(28) L_WRIST_Y(29) L_WRIST_P(30) L_WRIST_R(31) L_HAND_J0(32) L_HAND_J1(33)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.RobotHardware.conf
[ 54%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile_conf
[ 55%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_controller_config.yaml
[ 55%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile_lisp
[ 55%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
[ 56%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp4r.l
[ 57%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
[ 57%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_dae
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile_urdf
[ 58%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
Sensor rfsensor is attached to R_ANKLE_R_LINK base_force6d #sensor3 0
Sensor lfsensor is attached to L_ANKLE_R_LINK base_force6d #sensor4 1
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[ INFO] [1429777174.982781737]: joint R_FOOT is passive, but adding to hierarchy

[ INFO] [1429777175.010216639]: joint L_FOOT is passive, but adding to hierarchy

[ 58%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile_xml
[ 58%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.xml
[ WARN] [1429777175.151584494]: could not find collada joint kmodel1/jointsid1000!

[ 58%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile_dae
[ 58%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) CHEST_JOINT2(14) HEAD_JOINT0(15) HEAD_JOINT1(16) RARM_JOINT0(17) RARM_JOINT1(18) RARM_JOINT2(19) RARM_JOINT3(20) RARM_JOINT4(21) RARM_JOINT5(22) RARM_JOINT6(23) RARM_JOINT7(24) LARM_JOINT0(25) LARM_JOINT1(26) LARM_JOINT2(27) LARM_JOINT3(28) LARM_JOINT4(29) LARM_JOINT5(30) LARM_JOINT6(31) LARM_JOINT7(32)
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.RobotHardware.conf
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
[ 59%] Collada Info: joint type free not supported
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.xml
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) CHEST_JOINT2(14) HEAD_JOINT0(15) HEAD_JOINT1(16) RARM_JOINT0(17) RARM_JOINT1(18) RARM_JOINT2(19) RARM_JOINT3(20) RARM_JOINT4(21) RARM_JOINT5(22) RARM_JOINT6(23) RARM_JOINT7(24) LARM_JOINT0(25) LARM_JOINT1(26) LARM_JOINT2(27) LARM_JOINT3(28) LARM_JOINT4(29) LARM_JOINT5(30) LARM_JOINT6(31) LARM_JOINT7(32)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.RobotHardware.conf
[ 59%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_lisp
[ 60%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Humanoid node
Joint node BASE
  Segment node BASE_LINK
  Joint node J1
    Segment node J1_LINK
    Joint node J2
      Segment node J2_LINK
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
          Joint node J5
            Segment node J5_LINK
            Joint node J6
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Joint node HAND_L
                  Segment node HAND_L_LINK
                Joint node HAND_R
                  Segment node HAND_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
/opt/ros/hydro/bin/openhrp-export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ 60%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/prog/euslib/rbrain/jaxon/JAXONmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/prog/euslib/rbrain/jaxon/JAXONmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
[ 60%] [ 61%] [ 61%] Built target pa10_hrpsys_ros_bridge_tutorials_compile_lisp
Built target jaxon_hrpsys_ros_bridge_tutorials_compile_dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/jaxon.l
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_dae
[ 61%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml
[ 62%] Built target pa10_hrpsys_ros_bridge_tutorials_compile_dae
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_conf
[ 62%] Humanoid node
Joint node BASE
  Segment node BASE_LINK
  Joint node J1
    Segment node J1_LINK
    Joint node J2
      Segment node J2_LINK
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
          Joint node J5
            Segment node J5_LINK
            Joint node J6
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Joint node HAND_L
                  Segment node HAND_L_LINK
                Joint node HAND_R
                  Segment node HAND_R_LINK
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/prog/euslib/rbrain/jaxon/JAXONmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint J1(0) J2(1) J3(2) J4(3) J5(4) J6(5) J7(6) HAND_L(7) HAND_R(8)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xmlGenerating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_controller_config.yaml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.RobotHardware.conf
[ 63%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
[ 64%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
Humanoid node
Joint node BASE
  Segment node BASE_LINK
  Joint node J1
    Segment node J1_LINK
    Joint node J2
      Segment node J2_LINK
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
          Joint node J5
            Segment node J5_LINK
            Joint node J6
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Joint node HAND_L
                  Segment node HAND_L_LINK
                Joint node HAND_R
                  Segment node HAND_R_LINK
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint J1(0) J2(1) J3(2) J4(3) J5(4) J6(5) J7(6) HAND_L(7) HAND_R(8)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.RobotHardware.conf
[ 64%] Built target pa10_hrpsys_ros_bridge_tutorials_compile_conf
[ 64%] ;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
Built target pa10_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile_urdf
[ 64%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
[ 65%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Humanoid node
Joint node WAIST
  Segment node WAIST_LINK0
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
      Segment node WAIST_LINK2
      Joint node CHEST
        AccelerationSensorgsensor
        Gyrogyrometer
        Segment node WAIST_LINK3
        VisionSensorVISION_SENSOR1
        VisionSensorVISION_SENSOR2
        Joint node LARM_SHOULDER_P
          Segment node LARM_LINK1
          Joint node LARM_SHOULDER_R
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
              Segment node LARM_LINK3
              Joint node LARM_ELBOW
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Segment node LARM_LINK6
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
                      Segment node LARM_LINK7
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
  Joint node LLEG_HIP_R
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
      Segment node LLEG_LINK2
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
        Joint node LLEG_KNEE
          Segment node LLEG_LINK4
          Joint node LLEG_ANKLE_P
            Segment node LLEG_LINK5
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
              Segment node RLEG_LINK6
                ForceSensorrfsensor
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
[ERROR] [1429777177.227824830]: Target Node visual1/node_joint0_axis0 NOT found!!!
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
[ WARN] [1429777177.230449723]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
[ WARN] [1429777177.232447777]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
[ WARN] [1429777177.244607416]: could not find openrave joint BASE!
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
[ 66%] Built target pa10_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile_dae
[ 66%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile_dae
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile_xml
[ 66%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml
/opt/ros/hydro/bin/openhrp-export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Humanoid node
Joint node WAIST
  Segment node WAIST_LINK0
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
      Segment node WAIST_LINK2
      Joint node CHEST
        AccelerationSensorgsensor
        Gyrogyrometer
        Segment node WAIST_LINK3
        VisionSensorVISION_SENSOR1
        VisionSensorVISION_SENSOR2
        Joint node LARM_SHOULDER_P
          Segment node LARM_LINK1
          Joint node LARM_SHOULDER_R
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
              Segment node LARM_LINK3
              Joint node LARM_ELBOW
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Segment node LARM_LINK6
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
                      Segment node LARM_LINK7
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
  Joint node LLEG_HIP_R
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
      Segment node LLEG_LINK2
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
        Joint node LLEG_KNEE
          Segment node LLEG_LINK4
          Joint node LLEG_ANKLE_P
            Segment node LLEG_LINK5
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
              Segment node RLEG_LINK6
                ForceSensorrfsensor
[ 66%] Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.RobotHardware.conf
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
[ 67%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Humanoid node
Joint node WAIST
  Segment node WAIST_LINK0
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
      Segment node WAIST_LINK2
      Joint node CHEST
        AccelerationSensorgsensor
        Gyrogyrometer
        Segment node WAIST_LINK3
        VisionSensorVISION_SENSOR1
        VisionSensorVISION_SENSOR2
        Joint node LARM_SHOULDER_P
          Segment node LARM_LINK1
          Joint node LARM_SHOULDER_R
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
              Segment node LARM_LINK3
              Joint node LARM_ELBOW
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Segment node LARM_LINK6
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
                      Segment node LARM_LINK7
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
  Joint node LLEG_HIP_R
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
      Segment node LLEG_LINK2
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
        Joint node LLEG_KNEE
          Segment node LLEG_LINK4
          Joint node LLEG_ANKLE_P
            Segment node LLEG_LINK5
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
              Segment node RLEG_LINK6
                ForceSensorrfsensor
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.RobotHardware.conf
[ 67%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile_lisp
[ 68%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
[ WARN] [1429777177.468086997]: could not find collada joint kmodel1/jointsid1000!

[ 68%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile_xml
[ 68%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera #sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera #sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
[ 69%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile_conf
[ 70%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_controller_config.yaml
[ 70%] Built target staro_hrpsys_ros_bridge_tutorials_compile_conf
Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile_dae
[ 71%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor lhsensor is attached to LARM_LINK7 base_force6d #sensor4 3
Sensor rhsensor is attached to RARM_LINK7 base_force6d #sensor5 2
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor6 1
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                    VisionSensorHEAD_LEFT_CAMERA
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                    VisionSensorHEAD_LEFT_CAMERA
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                                            ForceSensorrasensor
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                            ForceSensorlasensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                                            ForceSensorrasensor
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                            ForceSensorlasensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.RobotHardware.conf
[ 72%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml
[ 72%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile_lisp
Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile_lisp
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                    VisionSensorHEAD_LEFT_CAMERA
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                                            ForceSensorrasensor
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                            ForceSensorlasensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                    VisionSensorHEAD_LEFT_CAMERA
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                                            ForceSensorrasensor
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                            ForceSensorlasensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
Humanoid node
Joint node WAIST
  Segment node BODY
Writing project files to .... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml
Writing conf files to ....... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.conf
Writing hardware files to ... /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.RobotHardware.conf
[ 73%] Built target staro_hrpsys_ros_bridge_tutorials_compile_xml
Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile_urdf
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
[ WARN] [1429777178.749986090]: could not find collada joint kmodel1/jointsid1000!

;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
[ 73%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile_urdf
Scanning dependencies of target testmdofarm_hrpsys_ros_bridge_tutorials_compile_conf
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_controller_config.yaml
[ERROR] [1429777178.985889651]: COLLADA error: Extra content at the end of the document


[ERROR] [1429777178.986975736]: COLLADA error: Failed to load XML document from memory


ERROR: Model Parsing the xml failed
make[2]: *** [/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf] Error 255
make[1]: *** [CMakeFiles/staro_hrpsys_ros_bridge_tutorials_compile_urdf.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 73%] Built target testmdofarm_hrpsys_ros_bridge_tutorials_compile_conf
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/prog/euslib/rbrain/staro/STAROmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
[ 73%] Built target staro_hrpsys_ros_bridge_tutorials_compile_dae
/opt/ros/hydro/bin/openhrp-export-collada /home/takasugi/prog/euslib/rbrain/staro/STAROmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor rasensor is attached to RARM_LINK7 base_force6d #sensor4 2
Sensor lasensor is attached to LARM_LINK7 base_force6d #sensor5 3
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor6 1
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[ 73%] Built target staro_hrpsys_ros_bridge_tutorials_compile_lisp
make: *** [all] Error 2
[hrpsys_ros_bridge_tutorials] <== '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'

Failed   <== hrpsys_ros_bridge_tutorials [ 8.7 seconds ]                                                                                                                
[build] There were '1' errors:                                                                                                                                          

Failed to build package 'hrpsys_ros_bridge_tutorials' because the following command:

# Command to reproduce:
cd /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials && /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

# Path to log:
cat /home/takasugi/ros/hydro/build/build_logs/hrpsys_ros_bridge_tutorials.log

Exited with return code: 2 

[build] Runtime: 9.0 seconds 

@k-okada
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k-okada commented Apr 23, 2015

https://github.com/euslisp/jskeus/pull/200/files
みたいに,nilでboundingboxをつくろうとしているももの対応が必要な気がします.
とありあえずこれをコピーして/opt/ros/hydro/share/euslisp/jskeus/irteusみたいなところにいれて,
start-jsk/rtmros_tutorials#254
にあるように,irtrobot.l をloadすればうまく動くと思う.

あと,https://github.com/start-jsk/rtmros_tutorials/pull/244を使っています.

@k-okada
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k-okada commented Apr 23, 2015

https://github.com/euslisp/jskeus/pull/200/files

euslisp/jskeus#189

で対応ずみかな.さっきみたいにdebをもてきてもいいし,1.0.5のirtrobotをoptにいれてloadしてもいいかな.

◉ Kei Okada

2015-04-23 19:01 GMT+09:00 Kei Okada [email protected]:

https://github.com/euslisp/jskeus/pull/200/files
みたいに,nilでboundingboxをつくろうとしているももの対応が必要な気がします.
とありあえずこれをコピーして/opt/ros/hydro/share/euslisp/jskeus/irteusみたいなところにいれて,
start-jsk/rtmros_tutorials#254
にあるように,irtrobot.l をloadすればうまく動くと思う.

あと,https://github.com/start-jsk/rtmros_tutorials/pull/244を使っています.

@k-okada
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k-okada commented Apr 23, 2015

あとは,おまじないで,#109

しましたが,関係無かったかな.

◉ Kei Okada

2015-04-23 19:10 GMT+09:00 Kei Okada [email protected]:

https://github.com/euslisp/jskeus/pull/200/files

euslisp/jskeus#189

で対応ずみかな.さっきみたいにdebをもてきてもいいし,1.0.5のirtrobotをoptにいれてloadしてもいいかな.

◉ Kei Okada

2015-04-23 19:01 GMT+09:00 Kei Okada [email protected]:

https://github.com/euslisp/jskeus/pull/200/files
みたいに,nilでboundingboxをつくろうとしているももの対応が必要な気がします.
とありあえずこれをコピーして/opt/ros/hydro/share/euslisp/jskeus/irteusみたいなところにいれて,
start-jsk/rtmros_tutorials#254
にあるように,irtrobot.l をloadすればうまく動くと思う.

あと,https://github.com/start-jsk/rtmros_tutorials/pull/244を使っています.

@snozawa
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snozawa commented Apr 23, 2015

init-endingのmake-bounding-boxでエラーがでるものは
euslisp/jskeus#189
で対応済みです.

ただし,このエラーは足先end-coords高さが足裏リンク形状の点の高さより大幅にズレてる場合におきるようなので,
cd ~/prog/euslib/rbrain/jaxon && svn up

roscd hrpsys_ros_bridge_tutorials && git pull
が足りてないのかもしれません.
(今手元のおそらく最新jaxonでは,end-coordsと足形状があってるっぽかったです)

@Tnoriaki
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irtrobot.l をwgetしてそのirtrobot.lをloadすることでroseus jaxon-interface.lの後
(jaxon-int)
をすることが出来るようになりました。

ただ、その後
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch
を行うと

Invalid <arg> tag: $(find pkg) command only accepts one argument [find ]. 

Arg xml is <arg default="$(find )/models/JAXON.xml" name="PROJECT_FILE" unless="$(arg NOSIM)"/>

というエラーメッセージをはいてシミュレーターが起動しなくなりました
hrpsys_ros_bridge_tutorials/launch以下のlaunchファイルで
(find )
のようにfind 以下がすべて空欄になっているみたいです。
どうすればいいでしょうか?

@k-okada
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k-okada commented Apr 23, 2015

ちょっとなおしました.
start-jsk/rtmros_common#708

◉ Kei Okada

2015-04-23 21:42 GMT+09:00 Takasugi Noriaki [email protected]:

irtrobot.l をwgetしてそのirtrobot.lをloadすることでroseus jaxon-interface.lの後
(jaxon-int)
をすることが出来るようになりました。

ただ、その後
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch
を行うと

Invalid tag: $(find pkg) command only accepts one argument [find ].

Arg xml is

というエラーメッセージをはいてシミュレーターが起動しなくなりました
hrpsys_ros_bridge_tutorials/launch以下のlaunchファイルで
(find )
のようにfind 以下がすべて空欄になっているみたいです。
どうすればいいでしょうか?


Reply to this email directly or view it on GitHub
#108 (comment)
.

@Tnoriaki
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応急処置としてlaunchファイルにfind以下を書き込んだら
シミュレーターは起動しました。

@k-okada
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k-okada commented Apr 23, 2015

ちょっとなおしました.
start-jsk/rtmros_common#708

はなおらなかったでしょうか.

◉ Kei Okada

On Thu, Apr 23, 2015 at 10:53 PM, Takasugi Noriaki <[email protected]

wrote:

応急処置としてlaunchファイルにfind以下を書き込んだら
シミュレーターは起動しました。


Reply to this email directly or view it on GitHub
#108 (comment)
.

@Tnoriaki
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ビルドはエラーがでて通りませんでした。
何回かビルドを繰り返す事でjaxon.lが生成できました

.launchはfind以下にプロジエクト名が代入されて正しく直っていました

@k-okada
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k-okada commented Apr 23, 2015

2015-04-24 1:22 GMT+09:00 Takasugi Noriaki [email protected]:

ビルドはエラーがでて通りませんでした。
何回かビルドを繰り返す事でjaxon.lが生成できました

エラーを貼ってください.

◉ Kei Okada

@Tnoriaki
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今日ビルドをしましたが50分経っても終わりませんでした

takasugi:hrpsys_ros_bridge_tutorials(master●)$ catkin build --this
-------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/hydro
Workspace:                   /home/takasugi/ros/hydro
Source Space:       [exists] /home/takasugi/ros/hydro/src
Build Space:        [exists] /home/takasugi/ros/hydro/build
Devel Space:        [exists] /home/takasugi/ros/hydro/devel
Install Space:     [missing] /home/takasugi/ros/hydro/install
DESTDIR:                     None
-------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            False
Isolate Installs:            False
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------- 
Found '30' packages in 1.1 seconds. 
Starting ==> hrp2_models                                                        
Finished <== hrp2_models                 [ 0.3 seconds ]                        
Starting ==> hrpsys_ros_bridge_tutorials                                        
^C[build] User interrupted, stopping.                                                                                                                                     

[hrpsys_ros_bridge_tutorials] ==> '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials'
Scanning dependencies of target HRP2JSK_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSKNTS_xacro_model_generate
Scanning dependencies of target HRP2JSKNT_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSK_model_generate
[  0%] [  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[  0%] [  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Humanoid node
Humanoid node
Joint node BASE
Joint node BASE
  Segment node BASE_LINK
  Joint node J1
    Segment node J1_LINK
    Joint node J2
      Segment node J2_LINK
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
          Joint node J5
            Segment node J5_LINK
            Joint node J6
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Joint node HAND_L
                  Segment node HAND_L_LINK
                Joint node HAND_R
                  Segment node HAND_R_LINK
Humanoid node
Humanoid node
  Segment node BASE_LINK
Joint node BASE
  Joint node J1
  Segment node BASE_LINK
Joint node BASE
    Segment node J1_LINK
  Joint node J1
    Joint node J2
    Segment node J1_LINK
    Joint node J2
      Segment node J2_LINK
  Segment node BASE_LINK
      Segment node J2_LINK
      Joint node J3
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
  Joint node J1
        Segment node J3_LINK
          Joint node J5
        Joint node J4
            Segment node J5_LINK
          Segment node J4_LINK
          Joint node J5
            Joint node J6
            Segment node J5_LINK
              Segment node J6_LINK
    Segment node J1_LINK
            Joint node J6
              Joint node J7
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Segment node J7_LINK
                Joint node HAND_L
                Joint node HAND_L
                  Segment node HAND_L_LINK
                  Segment node HAND_L_LINK
    Joint node J2
                Joint node HAND_R
                Joint node HAND_R
                  Segment node HAND_R_LINK
                  Segment node HAND_R_LINK
      Segment node J2_LINK
      Joint node J3
        Segment node J3_LINK
        Joint node J4
          Segment node J4_LINK
          Joint node J5
            Segment node J5_LINK
            Joint node J6
              Segment node J6_LINK
              Joint node J7
                Segment node J7_LINK
                Joint node HAND_L
                  Segment node HAND_L_LINK
                Joint node HAND_R
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
                  Segment node HAND_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[  0%] [  0%] [  0%] [  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Humanoid node
Joint node WAIST
  Segment node WAIST_LINK0
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
      Segment node WAIST_LINK2
      Joint node CHEST
        AccelerationSensorgsensor
        Gyrogyrometer
        Segment node WAIST_LINK3
        VisionSensorVISION_SENSOR1
        VisionSensorVISION_SENSOR2
        Joint node LARM_SHOULDER_P
          Segment node LARM_LINK1
          Joint node LARM_SHOULDER_R
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
              Segment node LARM_LINK3
              Joint node LARM_ELBOW
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Segment node LARM_LINK6
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
                      Segment node LARM_LINK7
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
  Joint node LLEG_HIP_R
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
      Segment node LLEG_LINK2
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
        Joint node LLEG_KNEE
          Segment node LLEG_LINK4
Humanoid node
          Joint node LLEG_ANKLE_P
Joint node WAIST
            Segment node LLEG_LINK5
Humanoid node
  Segment node WAIST_LINK0
            Joint node LLEG_ANKLE_R
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
              Segment node LLEG_LINK6
Joint node WAIST
      Segment node WAIST_LINK2
                ForceSensorlfsensor
  Segment node WAIST_LINK0
      Joint node CHEST
  Joint node WAIST_P
        AccelerationSensorgsensor
  Joint node RLEG_HIP_R
        Gyrogyrometer
    Segment node WAIST_LINK1
    Segment node RLEG_LINK1
    Joint node WAIST_R
        Segment node WAIST_LINK3
    Joint node RLEG_HIP_P
      Segment node WAIST_LINK2
        VisionSensorVISION_SENSOR1
      Joint node CHEST
      Segment node RLEG_LINK2
        AccelerationSensorgsensor
      Joint node RLEG_HIP_Y
        VisionSensorVISION_SENSOR2
        Gyrogyrometer
        Segment node RLEG_LINK3
        Segment node WAIST_LINK3
        Joint node RLEG_KNEE
        VisionSensorVISION_SENSOR1
          Segment node RLEG_LINK4
        Joint node LARM_SHOULDER_P
        VisionSensorVISION_SENSOR2
          Segment node LARM_LINK1
          Joint node RLEG_ANKLE_P
          Joint node LARM_SHOULDER_R
        Joint node LARM_SHOULDER_P
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
            Segment node RLEG_LINK5
          Segment node LARM_LINK1
            Joint node RLEG_ANKLE_R
              Segment node LARM_LINK3
              Segment node RLEG_LINK6
          Joint node LARM_SHOULDER_R
                ForceSensorrfsensor
              Joint node LARM_ELBOW
            Segment node LARM_LINK2
                Segment node LARM_LINK4
            Joint node LARM_SHOULDER_Y
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
              Segment node LARM_LINK3
                  Joint node LARM_WRIST_P
              Joint node LARM_ELBOW
                    Segment node LARM_LINK6
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                      ForceSensorlhsensor
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Joint node LARM_WRIST_R
                    Segment node LARM_LINK6
                      Segment node LARM_LINK7
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
        Joint node RARM_SHOULDER_P
                      Segment node LARM_LINK7
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
            Segment node RARM_LINK2
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
              Segment node RARM_LINK3
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
              Joint node RARM_ELBOW
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                Segment node RARM_LINK4
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                Joint node RARM_WRIST_Y
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
                  Segment node RARM_LINK5
  Joint node LLEG_HIP_R
                  Joint node RARM_WRIST_P
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
                    Segment node RARM_LINK6
      Segment node LLEG_LINK2
                      ForceSensorrhsensor
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
                    Joint node RARM_WRIST_R
        Joint node LLEG_KNEE
                      Segment node RARM_LINK7
          Segment node LLEG_LINK4
  Joint node LLEG_HIP_R
          Joint node LLEG_ANKLE_P
            Segment node LLEG_LINK5
    Segment node LLEG_LINK1
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
    Joint node LLEG_HIP_P
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
      Segment node LLEG_LINK2
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Joint node LLEG_HIP_Y
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node LLEG_LINK3
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
        Joint node LLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
          Segment node LLEG_LINK4
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
          Joint node LLEG_ANKLE_P
            Segment node LLEG_LINK5
              Segment node RLEG_LINK6
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
                ForceSensorrfsensor
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
              Segment node RLEG_LINK6
                ForceSensorrfsensor
Humanoid node
Joint node WAIST
  Segment node WAIST_LINK0
  Joint node WAIST_P
    Segment node WAIST_LINK1
    Joint node WAIST_R
      Segment node WAIST_LINK2
      Joint node CHEST
        AccelerationSensorgsensor
        Gyrogyrometer
        Segment node WAIST_LINK3
        VisionSensorVISION_SENSOR1
        VisionSensorVISION_SENSOR2
        Joint node LARM_SHOULDER_P
          Segment node LARM_LINK1
          Joint node LARM_SHOULDER_R
            Segment node LARM_LINK2
            Joint node LARM_SHOULDER_Y
              Segment node LARM_LINK3
              Joint node LARM_ELBOW
                Segment node LARM_LINK4
                Joint node LARM_WRIST_Y
                  Segment node LARM_LINK5
                  Joint node LARM_WRIST_P
                    Segment node LARM_LINK6
                      ForceSensorlhsensor
                    Joint node LARM_WRIST_R
                      Segment node LARM_LINK7
        Joint node RARM_SHOULDER_P
          Segment node RARM_LINK1
          Joint node RARM_SHOULDER_R
            Segment node RARM_LINK2
            Joint node RARM_SHOULDER_Y
              Segment node RARM_LINK3
              Joint node RARM_ELBOW
                Segment node RARM_LINK4
                Joint node RARM_WRIST_Y
                  Segment node RARM_LINK5
                  Joint node RARM_WRIST_P
                    Segment node RARM_LINK6
                      ForceSensorrhsensor
                    Joint node RARM_WRIST_R
                      Segment node RARM_LINK7
  Joint node LLEG_HIP_R
    Segment node LLEG_LINK1
    Joint node LLEG_HIP_P
      Segment node LLEG_LINK2
      Joint node LLEG_HIP_Y
        Segment node LLEG_LINK3
        Joint node LLEG_KNEE
          Segment node LLEG_LINK4
          Joint node LLEG_ANKLE_P
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
            Segment node LLEG_LINK5
            Joint node LLEG_ANKLE_R
              Segment node LLEG_LINK6
                ForceSensorlfsensor
  Joint node RLEG_HIP_R
    Segment node RLEG_LINK1
    Joint node RLEG_HIP_P
      Segment node RLEG_LINK2
      Joint node RLEG_HIP_Y
        Segment node RLEG_LINK3
        Joint node RLEG_KNEE
          Segment node RLEG_LINK4
          Joint node RLEG_ANKLE_P
            Segment node RLEG_LINK5
            Joint node RLEG_ANKLE_R
              Segment node RLEG_LINK6
                ForceSensorrfsensor
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Info: joint type free not supported
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[  0%] /opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
/opt/ros/hydro/bin/export-collada /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
[  0%] [  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
[  0%] [  0%] [  0%] [  0%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Humanoid node
Humanoid node
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
Humanoid node
      Joint node RLEG_JOINT1
Joint node WAIST
          Segment node RLEG_LINK1
Joint node WAIST
  Segment node BODY
          Joint node RLEG_JOINT2
  Joint node RLEG_JOINT0
Joint node WAIST
      Segment node RLEG_LINK0
              Segment node RLEG_LINK2
      Joint node RLEG_JOINT1
  Segment node BODY
          Segment node RLEG_LINK1
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
  Segment node BODY
      Joint node RLEG_JOINT1
              Joint node RLEG_JOINT3
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
          Joint node RLEG_JOINT2
  Joint node RLEG_JOINT0
              Segment node RLEG_LINK2
              Segment node RLEG_LINK2
      Segment node RLEG_LINK0
              Joint node RLEG_JOINT3
      Joint node RLEG_JOINT1
                  Segment node RLEG_LINK3
          Segment node RLEG_LINK1
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                  Joint node RLEG_JOINT4
          Joint node RLEG_JOINT2
                  Joint node RLEG_JOINT4
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                      Segment node RLEG_LINK4
                  Segment node RLEG_LINK3
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                  Joint node RLEG_JOINT4
                          Segment node RLEG_LINK5
                      Joint node RLEG_JOINT5
                      Segment node RLEG_LINK4
                          Segment node RLEG_LINK5
                      Joint node RLEG_JOINT5
                            ForceSensorrfsensor
                            ForceSensorrfsensor
                          Segment node RLEG_LINK5
  Joint node LLEG_JOINT0
                          Segment node RLEG_LINK5
  Joint node LLEG_JOINT0
                            ForceSensorrfsensor
      Segment node LLEG_LINK0
  Joint node LLEG_JOINT0
      Joint node LLEG_JOINT1
      Segment node LLEG_LINK0
      Segment node LLEG_LINK0
          Segment node LLEG_LINK1
                            ForceSensorrfsensor
          Joint node LLEG_JOINT2
      Joint node LLEG_JOINT1
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
      Joint node LLEG_JOINT1
                  Segment node LLEG_LINK3
          Segment node LLEG_LINK1
                  Joint node LLEG_JOINT4
          Joint node LLEG_JOINT2
  Joint node LLEG_JOINT0
                      Segment node LLEG_LINK4
          Segment node LLEG_LINK1
                      Joint node LLEG_JOINT5
              Segment node LLEG_LINK2
      Segment node LLEG_LINK0
              Joint node LLEG_JOINT3
                          Segment node LLEG_LINK5
                  Segment node LLEG_LINK3
      Joint node LLEG_JOINT1
                  Joint node LLEG_JOINT4
          Segment node LLEG_LINK1
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
          Joint node LLEG_JOINT2
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
              Segment node LLEG_LINK2
          Joint node LLEG_JOINT2
                            ForceSensorlfsensor
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
  Joint node CHEST_JOINT0
                  Segment node LLEG_LINK3
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
                  Joint node LLEG_JOINT4
      Joint node CHEST_JOINT1
      Segment node CHEST_LINK0
          Segment node CHEST_LINK1
                      Segment node LLEG_LINK4
            AccelerationSensorgsensor
      Joint node CHEST_JOINT1
            Gyrogyrometer
                      Joint node LLEG_JOINT5
          Joint node HEAD_JOINT0
          Segment node CHEST_LINK1
                  Joint node LLEG_JOINT4
              Segment node HEAD_LINK0
                      Segment node LLEG_LINK4
            AccelerationSensorgsensor
              Joint node HEAD_JOINT1
                          Segment node LLEG_LINK5
                      Joint node LLEG_JOINT5
                  Segment node HEAD_LINK1
            Gyrogyrometer
                            ForceSensorlfsensor
                  VisionSensorCAMERA_R
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
                          Segment node LLEG_LINK5
              Joint node HEAD_JOINT1
                  VisionSensorCAMERA_L
                            ForceSensorlfsensor
  Joint node CHEST_JOINT0
          Joint node RARM_JOINT0
  Joint node CHEST_JOINT0
              Segment node RARM_LINK0
      Segment node CHEST_LINK0
                  Segment node HEAD_LINK1
              Joint node RARM_JOINT1
      Segment node CHEST_LINK0
                  Segment node RARM_LINK1
      Joint node CHEST_JOINT1
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_L
          Segment node CHEST_LINK1
                  Joint node RARM_JOINT2
          Joint node RARM_JOINT0
      Joint node CHEST_JOINT1
              Segment node RARM_LINK0
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            AccelerationSensorgsensor
                      Segment node RARM_LINK2
            Gyrogyrometer
              Joint node RARM_JOINT1
                      Joint node RARM_JOINT3
            Gyrogyrometer
                          Segment node RARM_LINK3
                  Segment node RARM_LINK1
          Joint node HEAD_JOINT0
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                          Joint node RARM_JOINT4
                  Joint node RARM_JOINT2
                  Segment node HEAD_LINK1
                      Segment node RARM_LINK2
                  VisionSensorCAMERA_R
              Joint node HEAD_JOINT1
                  VisionSensorCAMERA_L
                              Segment node RARM_LINK4
                  Segment node HEAD_LINK1
                      Joint node RARM_JOINT3
                  VisionSensorCAMERA_R
                              Joint node RARM_JOINT5
                          Segment node RARM_LINK3
                                  Segment node RARM_LINK5
          Joint node RARM_JOINT0
                  VisionSensorCAMERA_L
              Segment node RARM_LINK0
          Joint node RARM_JOINT0
              Joint node RARM_JOINT1
                          Joint node RARM_JOINT4
                                  Joint node RARM_JOINT6
                  Segment node RARM_LINK1
                                      Segment node RARM_LINK6
                              Segment node RARM_LINK4
                                        ForceSensorrhsensor
                  Joint node RARM_JOINT2
                                      Joint node RARM_JOINT7
                              Joint node RARM_JOINT5
                      Segment node RARM_LINK2
              Segment node RARM_LINK0
                                          Segment node RARM_LINK7
                      Joint node RARM_JOINT3
              Joint node RARM_JOINT1
                          Segment node RARM_LINK3
          Joint node LARM_JOINT0
                  Segment node RARM_LINK1
              Segment node LARM_LINK0
                  Joint node RARM_JOINT2
                                  Segment node RARM_LINK5
              Joint node LARM_JOINT1
                          Joint node RARM_JOINT4
                                  Joint node RARM_JOINT6
                              Segment node RARM_LINK4
                      Segment node RARM_LINK2
                              Joint node RARM_JOINT5
                      Joint node RARM_JOINT3
                                  Segment node RARM_LINK5
                  Segment node LARM_LINK1
                                      Segment node RARM_LINK6
                  Joint node LARM_JOINT2
                                        ForceSensorrhsensor
                                  Joint node RARM_JOINT6
                      Segment node LARM_LINK2
                          Segment node RARM_LINK3
                      Joint node LARM_JOINT3
                                      Segment node RARM_LINK6
                          Segment node LARM_LINK3
                          Joint node RARM_JOINT4
                                      Joint node RARM_JOINT7
                              Segment node RARM_LINK4
                                          Segment node RARM_LINK7
                                        ForceSensorrhsensor
                          Joint node LARM_JOINT4
          Joint node LARM_JOINT0
                                      Joint node RARM_JOINT7
              Segment node LARM_LINK0
                              Segment node LARM_LINK4
                              Joint node RARM_JOINT5
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                                          Segment node RARM_LINK7
                  Joint node LARM_JOINT2
                              Joint node LARM_JOINT5
                                  Segment node RARM_LINK5
                                  Segment node LARM_LINK5
                      Segment node LARM_LINK2
          Joint node LARM_JOINT0
                                  Joint node LARM_JOINT6
                                  Joint node RARM_JOINT6
                                      Segment node LARM_LINK6
              Segment node LARM_LINK0
                                        ForceSensorlhsensor
                                      Segment node RARM_LINK6
              Joint node LARM_JOINT1
                      Joint node LARM_JOINT3
                  Segment node LARM_LINK1
                                      Joint node LARM_JOINT7
                          Segment node LARM_LINK3
                                        ForceSensorrhsensor
                                          Segment node LARM_LINK7
                                      Joint node RARM_JOINT7
                  Joint node LARM_JOINT2
                          Joint node LARM_JOINT4
                                          Segment node RARM_LINK7
                              Segment node LARM_LINK4
          Joint node LARM_JOINT0
                              Joint node LARM_JOINT5
              Segment node LARM_LINK0
                      Segment node LARM_LINK2
              Joint node LARM_JOINT1
                      Joint node LARM_JOINT3
                  Segment node LARM_LINK1
                          Segment node LARM_LINK3
                  Joint node LARM_JOINT2
                                  Segment node LARM_LINK5
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Joint node LARM_JOINT4
                                  Joint node LARM_JOINT6
                              Segment node LARM_LINK4
                          Segment node LARM_LINK3
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                      Segment node LARM_LINK6
                          Joint node LARM_JOINT4
                                        ForceSensorlhsensor
                                  Joint node LARM_JOINT6
                                      Joint node LARM_JOINT7
                                      Segment node LARM_LINK6
                                          Segment node LARM_LINK7
                                        ForceSensorlhsensor
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
[  1%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
[  3%] [  3%] [  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera #sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera #sensor4 1
lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera #sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera #sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera #sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera #sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera #sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera #sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
[  3%] [  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
[  3%] [  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
[  3%] [  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
[  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
[  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[  3%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
;; Adding gazebo description;; Adding gazebo description

;; Use assimp export
;; output file is: ;; Use assimp export
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf
;; mesh_prefix is: ;; output file is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf
;; Mesh output directory is: 
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes;; mesh_prefix is: 
package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae

Humanoid node
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Joint node WAIST
  Segment node BODY
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
                          Joint node RLEG_JOINT6
                            Segment node RLEG_LINK6
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
                          Joint node LLEG_JOINT6
                            Segment node LLEG_LINK6
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
            Gyrogyrometer
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                  VisionSensorCARMINE
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                        ForceSensorrhsensor
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
[ WARN] [1429858803.370172293]: could not find collada joint kmodel1/jointsid1000!

[ WARN] [1429858803.379175728]: could not find collada joint kmodel1/jointsid1000!
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
[  3%] [  4%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH.urdf
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH.urdf
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[  4%] [  5%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[  5%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[  5%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Humanoid node
Joint node WAIST
  Segment node BODY
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
Humanoid node
            AccelerationSensorgsensor
Joint node WAIST
            Gyrogyrometer
          Joint node HEAD_JOINT0
  Segment node BODY
              Segment node HEAD_LINK0
  Joint node CHEST_JOINT0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
      Segment node CHEST_LINK0
                  VisionSensorCAMERA_R
      Joint node CHEST_JOINT1
                  VisionSensorCAMERA_C
          Segment node CHEST_LINK1
            AccelerationSensorgsensor
                  VisionSensorCAMERA_L
            Gyrogyrometer
          Joint node RARM_JOINT0
          Joint node HEAD_JOINT0
              Segment node RARM_LINK0
              Segment node HEAD_LINK0
              Joint node RARM_JOINT1
              Joint node HEAD_JOINT1
                  Segment node RARM_LINK1
                  Segment node HEAD_LINK1
                  Joint node RARM_JOINT2
                  VisionSensorCAMERA_R
                  VisionSensorCAMERA_C
                      Segment node RARM_LINK2
                  VisionSensorCAMERA_L
                      Joint node RARM_JOINT3
          Joint node RARM_JOINT0
                          Segment node RARM_LINK3
              Segment node RARM_LINK0
                          Joint node RARM_JOINT4
              Joint node RARM_JOINT1
                              Segment node RARM_LINK4
                  Segment node RARM_LINK1
                              Joint node RARM_JOINT5
                  Joint node RARM_JOINT2
                                  Segment node RARM_LINK5
                      Segment node RARM_LINK2
                                  Joint node RARM_JOINT6
                      Joint node RARM_JOINT3
                                      Segment node RARM_LINK6
                          Segment node RARM_LINK3
                                        ForceSensorrhsensor
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                                      Joint node RARM_JOINT7
                              Joint node RARM_JOINT5
                                          Segment node RARM_LINK7
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
          Joint node LARM_JOINT0
                                      Segment node RARM_LINK6
              Segment node LARM_LINK0
                                        ForceSensorrhsensor
              Joint node LARM_JOINT1
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                  Segment node LARM_LINK1
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
                  Joint node LARM_JOINT2
              Joint node LARM_JOINT1
                      Segment node LARM_LINK2
                  Segment node LARM_LINK1
                      Joint node LARM_JOINT3
                  Joint node LARM_JOINT2
                          Segment node LARM_LINK3
                      Segment node LARM_LINK2
                          Joint node LARM_JOINT4
                      Joint node LARM_JOINT3
                              Segment node LARM_LINK4
                          Segment node LARM_LINK3
                              Joint node LARM_JOINT5
                          Joint node LARM_JOINT4
                                  Segment node LARM_LINK5
                              Segment node LARM_LINK4
                                  Joint node LARM_JOINT6
                              Joint node LARM_JOINT5
                                      Segment node LARM_LINK6
                                  Segment node LARM_LINK5
                                        ForceSensorlhsensor
                                  Joint node LARM_JOINT6
                                      Joint node LARM_JOINT7
                                      Segment node LARM_LINK6
                                          Segment node LARM_LINK7
                                        ForceSensorlhsensor
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[  5%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
[  5%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[  6%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH_SENSORS.urdf
[  6%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH_SENSORS.urdf
[  6%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
tmpinfo.name         = leftarm
tmpinfo.basename     = L_SHOULDER_P_LINK
tmpinfo.effectorname = L_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = L_HAND_J0
tmpinfo.gripperdir = -1
tmpinfo.grippernames = L_HAND_J1
tmpinfo.gripperdir = -1
tmpinfo.name         = rightarm
tmpinfo.basename     = R_SHOULDER_P_LINK
tmpinfo.effectorname = R_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = R_HAND_J0
tmpinfo.gripperdir = 1
tmpinfo.grippernames = R_HAND_J1
tmpinfo.gripperdir = 1
The "equivalentInertia" field of the Joint node is obsolete.
[ WARN] [1429858805.065945814]: could not find collada joint kmodel1/jointsid1000!

[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
tmpinfo.name         = leftarm
tmpinfo.basename     = L_SHOULDER_P_LINK
tmpinfo.effectorname = L_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = L_HAND_J0
tmpinfo.gripperdir = -1
tmpinfo.grippernames = L_HAND_J1
tmpinfo.gripperdir = -1
tmpinfo.name         = rightarm
tmpinfo.basename     = R_SHOULDER_P_LINK
tmpinfo.effectorname = R_WRIST_R_LINK
tmpinfo.translation = 0, 0, 0
tmpinfo.rotation = 0, 0, 0, 1
tmpinfo.grippernames = R_HAND_J0
tmpinfo.gripperdir = 1
tmpinfo.grippernames = R_HAND_J1
tmpinfo.gripperdir = 1
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node R_HIP_Y
      Segment node R_HIP_Y_LINK
      Joint node R_HIP_R
          Segment node R_HIP_R_LINK
          Joint node R_HIP_P
              Segment node R_HIP_P_LINK
              Joint node R_KNEE_P
                  Segment node R_KNEE_P_LINK
                  Joint node R_ANKLE_P
Humanoid node
                      Segment node R_ANKLE_P_LINK
                      Joint node R_ANKLE_R
Joint node WAIST
                          Segment node R_ANKLE_R_LINK
                            ForceSensorrfsensor
  Segment node BODY
                          Joint node R_FOOT
    AccelerationSensorgsensor
                            Segment node R_FOOT_LINK
    Gyrogyrometer
  Joint node L_HIP_Y
      Segment node L_HIP_Y_LINK
      Joint node L_HIP_R
  Joint node R_HIP_Y
          Segment node L_HIP_R_LINK
          Joint node L_HIP_P
      Segment node R_HIP_Y_LINK
              Segment node L_HIP_P_LINK
      Joint node R_HIP_R
              Joint node L_KNEE_P
          Segment node R_HIP_R_LINK
                  Segment node L_KNEE_P_LINK
          Joint node R_HIP_P
                  Joint node L_ANKLE_P
                      Segment node L_ANKLE_P_LINK
              Segment node R_HIP_P_LINK
                      Joint node L_ANKLE_R
              Joint node R_KNEE_P
                          Segment node L_ANKLE_R_LINK
                  Segment node R_KNEE_P_LINK
                            ForceSensorlfsensor
                  Joint node R_ANKLE_P
                          Joint node L_FOOT
                      Segment node R_ANKLE_P_LINK
                            Segment node L_FOOT_LINK
                      Joint node R_ANKLE_R
  Joint node CHEST_P
      Segment node CHEST_P_LINK
                          Segment node R_ANKLE_R_LINK
      Joint node CHEST_Y
          Segment node CHEST_Y_LINK
                            ForceSensorrfsensor
          Joint node NECK_Y
                          Joint node R_FOOT
              Segment node NECK_Y_LINK
                            Segment node R_FOOT_LINK
              Joint node NECK_P
                  Segment node NECK_P_LINK
  Joint node L_HIP_Y
          Joint node R_SHOULDER_P
      Segment node L_HIP_Y_LINK
              Segment node R_SHOULDER_P_LINK
      Joint node L_HIP_R
              Joint node R_SHOULDER_R
          Segment node L_HIP_R_LINK
                  Segment node R_SHOULDER_R_LINK
          Joint node L_HIP_P
                  Joint node R_SHOULDER_Y
              Segment node L_HIP_P_LINK
                      Segment node R_SHOULDER_Y_LINK
              Joint node L_KNEE_P
                      Joint node R_ELBOW_P
                  Segment node L_KNEE_P_LINK
                          Segment node R_ELBOW_P_LINK
                  Joint node L_ANKLE_P
                          Joint node R_WRIST_Y
                      Segment node L_ANKLE_P_LINK
                              Segment node R_WRIST_Y_LINK
                      Joint node L_ANKLE_R
                              Joint node R_WRIST_P
                          Segment node L_ANKLE_R_LINK
                                  Segment node R_WRIST_P_LINK
                            ForceSensorlfsensor
                                  Joint node R_WRIST_R
                          Joint node L_FOOT
                                      Segment node R_WRIST_R_LINK
                            Segment node L_FOOT_LINK
                                      Joint node R_HAND_J0
  Joint node CHEST_P
                                          Segment node R_HAND_J0_LINK
      Segment node CHEST_P_LINK
                                      Joint node R_HAND_J1
      Joint node CHEST_Y
                                          Segment node R_HAND_J1_LINK
          Segment node CHEST_Y_LINK
                                          Joint node R_F22
          Joint node NECK_Y
                                              Segment node R_F22_LINK
              Segment node NECK_Y_LINK
                                              Joint node R_F23
                                                  Segment node R_F23_LINK
              Joint node NECK_P
                                          Joint node R_F32
                                              Segment node R_F32_LINK
                  Segment node NECK_P_LINK
                                              Joint node R_F33
          Joint node R_SHOULDER_P
                                                  Segment node R_F33_LINK
              Segment node R_SHOULDER_P_LINK
                                          Joint node R_F42
              Joint node R_SHOULDER_R
                                              Segment node R_F42_LINK
                                              Joint node R_F43
                  Segment node R_SHOULDER_R_LINK
                                                  Segment node R_F43_LINK
                  Joint node R_SHOULDER_Y
                                          Joint node R_F52
                      Segment node R_SHOULDER_Y_LINK
                                              Segment node R_F52_LINK
                      Joint node R_ELBOW_P
                                              Joint node R_F53
                          Segment node R_ELBOW_P_LINK
                                                  Segment node R_F53_LINK
                          Joint node R_WRIST_Y
          Joint node L_SHOULDER_P
              Segment node L_SHOULDER_P_LINK
                              Segment node R_WRIST_Y_LINK
              Joint node L_SHOULDER_R
                              Joint node R_WRIST_P
                  Segment node L_SHOULDER_R_LINK
                                  Segment node R_WRIST_P_LINK
                  Joint node L_SHOULDER_Y
                                  Joint node R_WRIST_R
                      Segment node L_SHOULDER_Y_LINK
                                      Segment node R_WRIST_R_LINK
                      Joint node L_ELBOW_P
                                      Joint node R_HAND_J0
                          Segment node L_ELBOW_P_LINK
                                          Segment node R_HAND_J0_LINK
                          Joint node L_WRIST_Y
                                      Joint node R_HAND_J1
                              Segment node L_WRIST_Y_LINK
                                          Segment node R_HAND_J1_LINK
                              Joint node L_WRIST_P
                                          Joint node R_F22
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                              Segment node R_F22_LINK
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                              Joint node R_F23
                                          Segment node L_HAND_J0_LINK
                                                  Segment node R_F23_LINK
                                      Joint node L_HAND_J1
                                          Joint node R_F32
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node R_F32_LINK
                                              Segment node L_F22_LINK
                                              Joint node R_F33
                                              Joint node L_F23
                                                  Segment node R_F33_LINK
                                                  Segment node L_F23_LINK
                                          Joint node R_F42
                                          Joint node L_F32
                                              Segment node R_F42_LINK
                                              Segment node L_F32_LINK
                                              Joint node R_F43
                                              Joint node L_F33
                                                  Segment node R_F43_LINK
                                                  Segment node L_F33_LINK
                                          Joint node R_F52
                                          Joint node L_F42
                                              Segment node R_F52_LINK
                                              Segment node L_F42_LINK
                                              Joint node R_F53
                                              Joint node L_F43
                                                  Segment node R_F53_LINK
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
          Joint node L_SHOULDER_P
                                              Segment node L_F52_LINK
              Segment node L_SHOULDER_P_LINK
                                              Joint node L_F53
              Joint node L_SHOULDER_R
                                                  Segment node L_F53_LINK
                  Segment node L_SHOULDER_R_LINK
                  Joint node L_SHOULDER_Y
                      Segment node L_SHOULDER_Y_LINK
                      Joint node L_ELBOW_P
                          Segment node L_ELBOW_P_LINK
                          Joint node L_WRIST_Y
                              Segment node L_WRIST_Y_LINK
                              Joint node L_WRIST_P
                                  Segment node L_WRIST_P_LINK
                                  Joint node L_WRIST_R
                                      Segment node L_WRIST_R_LINK
                                      Joint node L_HAND_J0
                                          Segment node L_HAND_J0_LINK
                                      Joint node L_HAND_J1
                                          Segment node L_HAND_J1_LINK
                                          Joint node L_F22
                                              Segment node L_F22_LINK
                                              Joint node L_F23
                                                  Segment node L_F23_LINK
                                          Joint node L_F32
                                              Segment node L_F32_LINK
                                              Joint node L_F33
                                                  Segment node L_F33_LINK
                                          Joint node L_F42
                                              Segment node L_F42_LINK
                                              Joint node L_F43
                                                  Segment node L_F43_LINK
                                          Joint node L_F52
                                              Segment node L_F52_LINK
                                              Joint node L_F53
                                                  Segment node L_F53_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2w.l
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2w.l
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor3 1
Sensor CAMERA_C is attached to HEAD_LINK1 base_pinhole_camera #sensor4 2
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 0
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor3 1
Sensor CAMERA_C is attached to HEAD_LINK1 base_pinhole_camera #sensor4 2
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor1 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor2 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 0
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 1
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor1 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor2 0
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_body.urdf
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[ WARN] [1429858806.713290508]: could not find collada joint kmodel1/jointsid1000!

[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_L/HRP3HAND_Lmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp4r.l
Sensor rfsensor is attached to R_ANKLE_R_LINK base_force6d #sensor3 0
Sensor lfsensor is attached to L_ANKLE_R_LINK base_force6d #sensor4 1
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_body.urdf
[  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node LARM_LINK6
  Joint node L_THUMBCM_Y
      Segment node L_THUMBCM_Y_LINK
      Joint node L_THUMBCM_P
          Segment node L_THUMBCM_P_LINK
  Joint node L_INDEXMP_R
      Segment node L_INDEXMP_R_LINK
      Joint node L_INDEXMP_P
          Segment node L_INDEXMP_P_LINK
          Joint node L_INDEXPIP_R
              Segment node L_INDEXPIP_R_LINK
  Joint node L_MIDDLEPIP_R
      Segment node L_MIDDLEPIP_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
[  7%] Built target HRP2JSK_WH_SENSORS.urdf_generate
[  7%] [  7%] Built target HRP2JSK_model_generate
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp4r.l
[  7%] /opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_L/HRP3HAND_Lmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
Scanning dependencies of target HRP2JSKNTS_WH_SENSORS.urdf_generate
[  7%] [  7%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
The "equivalentInertia" field of the Joint node is obsolete.
The "equivalentInertia" field of the Joint node is obsolete.
The "equivalentInertia" field of the Joint node is obsolete.
Humanoid node
Joint node WAIST
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
      Joint node R_THUMBCM_P
          Segment node R_THUMBCM_P_LINK
  Joint node R_INDEXMP_R
      Segment node R_INDEXMP_R_LINK
      Joint node R_INDEXMP_P
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
Humanoid node
Humanoid node
Joint node WAIST
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
      Joint node R_THUMBCM_P
          Segment node R_THUMBCM_P_LINK
  Joint node R_INDEXMP_R
      Segment node R_INDEXMP_R_LINK
      Joint node R_INDEXMP_P
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
Joint node WAIST
  Segment node RARM_LINK6
  Joint node R_THUMBCM_Y
      Segment node R_THUMBCM_Y_LINK
      Joint node R_THUMBCM_P
          Segment node R_THUMBCM_P_LINK
  Joint node R_INDEXMP_R
      Segment node R_INDEXMP_R_LINK
      Joint node R_INDEXMP_P
          Segment node R_INDEXMP_P_LINK
          Joint node R_INDEXPIP_R
              Segment node R_INDEXPIP_R_LINK
  Joint node R_MIDDLEPIP_R
      Segment node R_MIDDLEPIP_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[  8%] [  8%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
Scanning dependencies of target HRP2JSKNT_xacro_model_generate
[  8%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
Sensor rfsensor is attached to R_ANKLE_R_LINK base_force6d #sensor3 0
Sensor lfsensor is attached to L_ANKLE_R_LINK base_force6d #sensor4 1
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
[  9%] [  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
[  9%] ;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[ WARN] [1429858808.549040926]: could not find collada joint kmodel1/jointsid1000!

[ WARN] [1429858808.562798060]: could not find collada joint kmodel1/jointsid1000!

[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
[  9%] [ WARN] [1429858808.587025415]: could not find collada joint kmodel1/jointsid1000!

;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[  9%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
[ 10%] ;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[ WARN] [1429858808.653064988]: could not find collada joint kmodel1/jointsid1000!

[ 10%] [ WARN] [1429858808.668656514]: could not find collada joint kmodel1/jointsid1000!
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH.urdf
[ 10%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH.urdf
[ WARN] [1429858808.700409658]: could not find collada joint kmodel1/jointsid1000!
[ 10%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH.urdf
[ 11%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.dae
[ WARN] [1429858808.852744914]: could not find collada joint kmodel1/jointsid1000!
[ 11%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.dae
[ WARN] [1429858808.958150756]: could not find collada joint kmodel1/jointsid1000!
[ 11%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH.urdf
[ 13%] Built target HRP2JSKNT_xacro_model_generate
[ 13%] Built target HRP2JSKNTS_xacro_model_generate
Scanning dependencies of target HRP2JSKNTS_model_generate
Scanning dependencies of target HRP2JSKNT_model_generate
[ 14%] Built target HRP2JSKNTS_model_generate
[ 15%] Built target HRP2JSKNT_model_generate
[ 15%] Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WH_SENSORS.urdf
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile
[ 15%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml
[ 16%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951

Fri Apr 24 16:00:09 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000870b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000f9e93955010031c5

Fri Apr 24 16:00:09 2015:

Checkpointing Phase 1: Prepare.Error: log file '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/omninames-takasugi-ThinkPad-T450.log
' exists.  Can't use -start option.
Checkpointing Phase 2: Commit.
Checkpointing completed.
[ 16%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WH_SENSORS.urdf
[ 18%] Built target HRP2JSKNTS_WH_SENSORS.urdf_generate
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_controller_config.yaml
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951
omniORB: Failed to bind to address :: port 2951. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2951
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
[ 18%] Built target HRP2JSKNT_WH_SENSORS.urdf_generate
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_controller_config.yaml
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951
omniORB: Failed to bind to address :: port 2951. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2951
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
omniNames properly started
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 12741) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12886.log
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 12741) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
testprojectgenerator (rostest.runner.RosTest) ... omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8cab8590-ea4f-11e4-8a00-605718ad098a] starting
omniNames (pid: 12741) is running
Aborting
fail to run rtm_naming, but try to continue
started roslaunch server http://takasugi-ThinkPad-T450:42147/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8cab8590-ea4f-11e4-8a00-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [13001]
Another rostest instance is currently running, waiting until it finished...
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 8cab8590-ea4f-11e4-8a00-605718ad098a
process[rosout-1]: started with pid [13066]
started core service [/rosout]
process[modelloader-2]: started with pid [13084]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [13095]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint J1(0) J2(1) J3(2) J4(3) J5(4) J6(5) J7(6) HAND_L(7) HAND_R(8)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/8cab8590-ea4f-11e4-8a00-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.721s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12886.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ERROR] [1429858812.991538878]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1429858812.993201330]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858812.994597345]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858813.003792604]: could not find openrave joint BASE!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952

Fri Apr 24 16:00:13 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000880b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000354544108000000fde93955010033a7
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12991.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8e0470e6-ea4f-11e4-bc23-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:54042/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8e0470e6-ea4f-11e4-bc23-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [13268]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 8e0470e6-ea4f-11e4-bc23-605718ad098a
process[rosout-1]: started with pid [13325]
started core service [/rosout]
process[modelloader-2]: started with pid [13341]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8e0470e6-ea4f-11e4-bc23-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13349]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [13365]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8e0470e6-ea4f-11e4-bc23-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13376]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8e0470e6-ea4f-11e4-bc23-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 13365, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2951 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/8e0470e6-ea4f-11e4-bc23-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/8e0470e6-ea4f-11e4-bc23-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13391]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.230s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12991.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ERROR] [1429858814.759255054]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1429858814.761189831]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858814.762256949]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858814.769376733]: could not find openrave joint BASE!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952
omniORB: Failed to bind to address :: port 2952. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2952
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12954.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8f176be6-ea4f-11e4-a7f0-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:42323/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[8f176be6-ea4f-11e4-a7f0-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [13553]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 8f176be6-ea4f-11e4-a7f0-605718ad098a
process[rosout-1]: started with pid [13610]
started core service [/rosout]
process[modelloader-2]: started with pid [13626]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8f176be6-ea4f-11e4-a7f0-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13629]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [13650]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8f176be6-ea4f-11e4-a7f0-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13661]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/8f176be6-ea4f-11e4-a7f0-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 13650, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2951 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/8f176be6-ea4f-11e4-a7f0-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/8f176be6-ea4f-11e4-a7f0-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [13679]
omniNames was not properly started.
IDL:omg.org/CORBA/TRANSIENT:1.0
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 13223) is running
Aborting
fail to run rtm_naming, but try to continue
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.227s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12954.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ERROR] [1429858816.557003052]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1429858816.558281461]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858816.559614303]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858816.569202504]: could not find openrave joint BASE!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952
omniORB: Failed to bind to address :: port 2952. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2952
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13414.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[902b1780-ea4f-11e4-b1d8-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:54673/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[902b1780-ea4f-11e4-b1d8-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [13867]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 902b1780-ea4f-11e4-b1d8-605718ad098a
process[rosout-1]: started with pid [13922]
started core service [/rosout]
process[modelloader-2]: started with pid [13938]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [13947]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/902b1780-ea4f-11e4-b1d8-605718ad098a/projectgenerator-3*.log
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
openhrp-model 13223 (not omniNames) is using the port.
Starting omniNames aborted. Please use the other port.
fail to run rtm_naming, but try to continue
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.318s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13414.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[ WARN] [1429858818.511023692]: could not find collada joint kmodel1/jointsid1000!

[ 18%] ... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13995.log
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953
Fri Apr 24 16:00:18 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000890b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000002ea395501003712
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[914627b8-ea4f-11e4-8b79-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:52966/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[914627b8-ea4f-11e4-8b79-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [14137]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 914627b8-ea4f-11e4-8b79-605718ad098a
process[rosout-1]: started with pid [14194]
started core service [/rosout]
process[modelloader-2]: started with pid [14210]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/914627b8-ea4f-11e4-8b79-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14219]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [14234]
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/914627b8-ea4f-11e4-8b79-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14238]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/914627b8-ea4f-11e4-8b79-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 14234, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2952 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml --conf-file-option abc_leg_offset: 0,0.09,0 --conf-file-option abc_stride_parameter: 0.15,0.05,10 --conf-file-option end_effectors: lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, rleg,RLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, larm,LARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, rarm,RARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, --conf-file-option collision_pair: RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/914627b8-ea4f-11e4-8b79-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/914627b8-ea4f-11e4-8b79-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14260]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
omniNames properly started
[modelloader-2] killing on exit
[rosout-1] killing on exit
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.226s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13995.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[ WARN] [1429858820.265017223]: could not find collada joint kmodel1/jointsid1000!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953
omniORB: Failed to bind to address :: port 2953. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2953
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14292.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9265d558-ea4f-11e4-b893-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:52094/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9265d558-ea4f-11e4-b893-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [14417]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9265d558-ea4f-11e4-b893-605718ad098a
process[rosout-1]: started with pid [14470]
started core service [/rosout]
process[modelloader-2]: started with pid [14486]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [14495]
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/9265d558-ea4f-11e4-b893-605718ad098a/projectgenerator-3*.log
openhrp-model 14098 (not omniNames) is using the port.
Starting omniNames aborted. Please use the other port.
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14292.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_controller_config.yaml
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2954

Fri Apr 24 16:00:22 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008a0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000006ea395501003923
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12904.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[93989384-ea4f-11e4-ab32-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:58459/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[93989384-ea4f-11e4-ab32-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [14672]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 93989384-ea4f-11e4-ab32-605718ad098a
process[rosout-1]: started with pid [14731]
started core service [/rosout]
process[modelloader-2]: started with pid [14747]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/93989384-ea4f-11e4-ab32-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14754]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [14771]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/93989384-ea4f-11e4-ab32-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14790]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/93989384-ea4f-11e4-ab32-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 14771, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2951 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/93989384-ea4f-11e4-ab32-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/93989384-ea4f-11e4-ab32-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [14809]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.134s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-12904.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ERROR] [1429858824.022635000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1429858824.024211247]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858824.025319602]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1429858824.033061974]: could not find openrave joint BASE!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952

Fri Apr 24 16:00:24 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000880b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000008ea395501003a52
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14782.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[949c5194-ea4f-11e4-9c5d-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:35540/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[949c5194-ea4f-11e4-9c5d-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [14973]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 949c5194-ea4f-11e4-9c5d-605718ad098a
process[rosout-1]: started with pid [15030]
started core service [/rosout]
process[modelloader-2]: started with pid [15046]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [15055]
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/949c5194-ea4f-11e4-9c5d-605718ad098a/projectgenerator-3*.log
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.218s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14782.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_controller_config.yaml
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951

Fri Apr 24 16:00:25 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000870b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000009ea395501003b40
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15080.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[95ade9ee-ea4f-11e4-8ecc-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:47437/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[95ade9ee-ea4f-11e4-8ecc-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [15211]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 95ade9ee-ea4f-11e4-8ecc-605718ad098a
process[rosout-1]: started with pid [15270]
started core service [/rosout]
process[modelloader-2]: started with pid [15286]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [15295]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/95ade9ee-ea4f-11e4-8ecc-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.218s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15080.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953

Fri Apr 24 16:00:27 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000890b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000000bea395501003c26
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13710.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[96bde3b6-ea4f-11e4-b12c-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:42554/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[96bde3b6-ea4f-11e4-b12c-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [15445]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 96bde3b6-ea4f-11e4-b12c-605718ad098a
process[rosout-1]: started with pid [15500]
started core service [/rosout]
process[modelloader-2]: started with pid [15516]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/96bde3b6-ea4f-11e4-b12c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [15525]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [15540]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/96bde3b6-ea4f-11e4-b12c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [15551]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/96bde3b6-ea4f-11e4-b12c-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 15540, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2952 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.xml --conf-file-option abc_leg_offset: 0,0.09,0 --conf-file-option abc_stride_parameter: 0.15,0.05,10 --conf-file-option end_effectors: lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, rleg,RLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, larm,LARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, rarm,RARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, --conf-file-option collision_pair: RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/96bde3b6-ea4f-11e4-b12c-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/96bde3b6-ea4f-11e4-b12c-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
Another rostest instance is currently running, waiting until it finished...
process[modelloader-2]: started with pid [15576]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.226s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-13710.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[ WARN] [1429858829.447487978]: could not find collada joint kmodel1/jointsid1000!

[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15571.log
omniORB: Failed to bind to address :: port 2953. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2953
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[97cb6e7c-ea4f-11e4-9152-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:57847/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[97cb6e7c-ea4f-11e4-9152-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [15719]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 97cb6e7c-ea4f-11e4-9152-605718ad098a
process[rosout-1]: started with pid [15772]
started core service [/rosout]
process[modelloader-2]: started with pid [15788]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [15797]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/97cb6e7c-ea4f-11e4-9152-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
[modelloader-2] killing on exit
omniNames (pid: 15398) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.318s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15571.log
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951
omniORB: Failed to bind to address :: port 2951. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2951
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15870.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[98f012e4-ea4f-11e4-8981-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:44632/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[98f012e4-ea4f-11e4-8981-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [15962]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 98f012e4-ea4f-11e4-8981-605718ad098a
process[rosout-1]: started with pid [16019]
started core service [/rosout]
process[modelloader-2]: started with pid [16035]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/98f012e4-ea4f-11e4-8981-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16045]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [16059]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/98f012e4-ea4f-11e4-8981-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16064]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 15168) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/98f012e4-ea4f-11e4-8981-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 16059, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2953 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml --conf-file-option abc_leg_offset: 0.0,0.105,0.0 --conf-file-option # original ankle --conf-file-option # end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708, --conf-file-option # ankle spacer --conf-file-option end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,-0.01,-0.115,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.01,-0.115,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708, --conf-file-option # for ThermoEstimator --conf-file-option motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3 --conf-file-option motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0 --conf-file-option alarm_ratio: 0.75 --conf-file-option # GraspController --conf-file-option grasp_joint_groups : LHAND : LARM_JOINT7, 1, RHAND : RARM_JOINT7, -1 --conf-file-option # for Collison Detector --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:RARM_JOINT7 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:RARM_JOINT7 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:RARM_JOINT7 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:RARM_JOINT7 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:LARM_JOINT7 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:LARM_JOINT7 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:LARM_JOINT7 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:LARM_JOINT7 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:LARM_JOINT7 RARM_JOINT6:WAIST RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:LARM_JOINT6 RARM_JOINT7:LARM_JOINT7 RARM_JOINT7:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST LARM_JOINT7:WAIST --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.004 --timestep 0.004 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/98f012e4-ea4f-11e4-8981-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/98f012e4-ea4f-11e4-8981-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16117]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.133s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15870.log
no process to kill
[ 18%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2954

Fri Apr 24 16:00:32 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008a0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000010ea395501003f4c
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16108.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9a096874-ea4f-11e4-b0dd-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:57398/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9a096874-ea4f-11e4-b0dd-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [16257]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9a096874-ea4f-11e4-b0dd-605718ad098a
process[rosout-1]: started with pid [16312]
started core service [/rosout]
process[modelloader-2]: started with pid [16328]
[ROSTEST]running test projectgenerator
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
process[projectgenerator-3]: started with pid [16347]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint J1(0) J2(1) J3(2) J4(3) J5(4) J6(5) J7(6) HAND_L(7) HAND_R(8)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/9a096874-ea4f-11e4-b0dd-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.318s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16108.log
[ 20%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955

Fri Apr 24 16:00:34 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008b0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000012ea39550100403a
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16342.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9b2856de-ea4f-11e4-bd3c-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:55531/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9b2856de-ea4f-11e4-bd3c-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [16486]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9b2856de-ea4f-11e4-bd3c-605718ad098a
process[rosout-1]: started with pid [16543]
started core service [/rosout]
process[modelloader-2]: started with pid [16559]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [16568]
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
omniNames properly started
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/9b2856de-ea4f-11e4-bd3c-605718ad098a/projectgenerator-3*.log
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16342.log
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_controller_config.yaml
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955
omniORB: Failed to bind to address :: port 2955. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2955
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15343.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9c455846-ea4f-11e4-9a3b-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:58738/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9c455846-ea4f-11e4-9a3b-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [16714]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9c455846-ea4f-11e4-9a3b-605718ad098a
process[rosout-1]: started with pid [16773]
started core service [/rosout]
process[modelloader-2]: started with pid [16789]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9c455846-ea4f-11e4-9a3b-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16799]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [16813]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9c455846-ea4f-11e4-9a3b-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16824]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9c455846-ea4f-11e4-9a3b-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 16813, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2951 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/9c455846-ea4f-11e4-9a3b-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/9c455846-ea4f-11e4-9a3b-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [16839]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 16442) is running
Aborting
fail to run rtm_naming, but try to continue
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.227s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-15343.log
no process to kill
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952

Fri Apr 24 16:00:38 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000880b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000016ea395501004243
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14544.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9d5167ac-ea4f-11e4-945d-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:58387/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9d5167ac-ea4f-11e4-945d-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [17006]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9d5167ac-ea4f-11e4-945d-605718ad098a
process[rosout-1]: started with pid [17063]
started core service [/rosout]
process[modelloader-2]: started with pid [17079]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9d5167ac-ea4f-11e4-945d-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [17088]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [17103]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9d5167ac-ea4f-11e4-945d-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [17114]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/9d5167ac-ea4f-11e4-945d-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 17103, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2953 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.xml --conf-file-option abc_leg_offset: 0.0,0.105,0.0 --conf-file-option # original ankle --conf-file-option # end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708, --conf-file-option # ankle spacer --conf-file-option end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,-0.01,-0.115,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.01,-0.115,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708, --conf-file-option # for ThermoEstimator --conf-file-option motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3 --conf-file-option motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0 --conf-file-option alarm_ratio: 0.75 --conf-file-option # GraspController --conf-file-option grasp_joint_groups : LHAND : LARM_JOINT7, 1, RHAND : RARM_JOINT7, -1 --conf-file-option # for Collison Detector --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:RARM_JOINT7 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:RARM_JOINT7 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:RARM_JOINT7 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:RARM_JOINT7 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:LARM_JOINT7 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:LARM_JOINT7 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:LARM_JOINT7 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:LARM_JOINT7 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:LARM_JOINT7 RARM_JOINT6:WAIST RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:LARM_JOINT6 RARM_JOINT7:LARM_JOINT7 RARM_JOINT7:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST LARM_JOINT7:WAIST --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.004 --timestep 0.004 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/9d5167ac-ea4f-11e4-945d-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/9d5167ac-ea4f-11e4-945d-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [17134]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.226s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-14544.log
no process to kill
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_controller_config.yaml
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_controller_config.yaml
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953

Fri Apr 24 16:00:40 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000890b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000018ea395501004359
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17133.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9e674dd2-ea4f-11e4-9b47-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:48652/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9e674dd2-ea4f-11e4-9b47-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [17284]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9e674dd2-ea4f-11e4-9b47-605718ad098a
process[rosout-1]: started with pid [17343]
started core service [/rosout]
process[modelloader-2]: started with pid [17359]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [17368]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/9e674dd2-ea4f-11e4-9b47-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
omniNames properly started
[rosout-1] killing on exit
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.118s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17133.log
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2954

Fri Apr 24 16:00:42 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008a0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001aea39550100443e
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17419.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9f5f37c2-ea4f-11e4-ba82-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:48863/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[9f5f37c2-ea4f-11e4-ba82-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [17513]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to 9f5f37c2-ea4f-11e4-ba82-605718ad098a
process[rosout-1]: started with pid [17570]
started core service [/rosout]
process[modelloader-2]: started with pid [17586]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [17595]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/9f5f37c2-ea4f-11e4-ba82-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.318s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17419.log
[ 20%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2956

Fri Apr 24 16:00:43 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008c0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001bea39550100451f
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17623.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a074f340-ea4f-11e4-a028-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:58420/
ros_comm version 1.10.12

SUMMARY
========

@Tnoriaki
Copy link
Author

続きです

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a074f340-ea4f-11e4-a028-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [17738]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a074f340-ea4f-11e4-a028-605718ad098a
process[rosout-1]: started with pid [17793]
started core service [/rosout]
process[modelloader-2]: started with pid [17809]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [17818]
Warning: Mass is zero. <Model>HRP2JSKNT <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNT <Link>LARM_JOINT7
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a074f340-ea4f-11e4-a028-605718ad098a/projectgenerator-3*.log
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17623.log
[ 22%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile
[ 22%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951

Fri Apr 24 16:00:45 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000870b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001dea39550100460c
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17854.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a18af8ce-ea4f-11e4-870e-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:55651/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a18af8ce-ea4f-11e4-870e-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [17975]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a18af8ce-ea4f-11e4-870e-605718ad098a
process[rosout-1]: started with pid [18033]
started core service [/rosout]
process[modelloader-2]: started with pid [18049]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [18058]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint CHEST_JOINT0(0) CHEST_JOINT1(1) HEAD_JOINT0(2) HEAD_JOINT1(3) RARM_JOINT0(4) RARM_JOINT1(5) RARM_JOINT2(6) RARM_JOINT3(7) RARM_JOINT4(8) RARM_JOINT5(9) RARM_JOINT6(10) RARM_JOINT7(11) LARM_JOINT0(12) LARM_JOINT1(13) LARM_JOINT2(14) LARM_JOINT3(15) LARM_JOINT4(16) LARM_JOINT5(17) LARM_JOINT6(18) LARM_JOINT7(19)
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a18af8ce-ea4f-11e4-870e-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.318s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-17854.log
[ 22%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952
Fri Apr 24 16:00:47 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000880b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001fea3955010046f3
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16589.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a2a02dec-ea4f-11e4-a682-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:51020/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a2a02dec-ea4f-11e4-a682-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [18202]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a2a02dec-ea4f-11e4-a682-605718ad098a
process[rosout-1]: started with pid [18261]
started core service [/rosout]
process[modelloader-2]: started with pid [18277]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [18286]
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a2a02dec-ea4f-11e4-a682-605718ad098a/projectgenerator-3*.log
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.218s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16589.log
[ 22%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_controller_config.yaml
[ 22%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18086.log
[ WARN] [1429858849.585691764]: could not find collada joint kmodel1/jointsid1000!

[ 23%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2951
omniORB: Failed to bind to address :: port 2951. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2951
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a3b86726-ea4f-11e4-aba5-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:41514/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a3b86726-ea4f-11e4-aba5-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [18449]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a3b86726-ea4f-11e4-aba5-605718ad098a
process[rosout-1]: started with pid [18506]
started core service [/rosout]
process[modelloader-2]: started with pid [18522]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [18531]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint J1(0) J2(1) J3(2) J4(3) J5(4) J6(5) J7(6) HAND_L(7) HAND_R(8)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a3b86726-ea4f-11e4-aba5-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 17932) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.118s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18086.log
[ 24%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2953

Fri Apr 24 16:00:51 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000890b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000023ea3955010048d5
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16882.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a4af0694-ea4f-11e4-b4de-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:48674/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a4af0694-ea4f-11e4-b4de-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [18688]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a4af0694-ea4f-11e4-b4de-605718ad098a
process[rosout-1]: started with pid [18747]
started core service [/rosout]
process[modelloader-2]: started with pid [18763]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a4af0694-ea4f-11e4-b4de-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [18772]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [18787]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a4af0694-ea4f-11e4-b4de-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [18792]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a4af0694-ea4f-11e4-b4de-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 18787, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2955 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.xml --conf-file-option abc_leg_offset: 0.0,0.105,0.0 --conf-file-option #end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.031,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.031,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option # for ThermoEstimator --conf-file-option motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3 --conf-file-option motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0 --conf-file-option alarm_ratio: 0.75 --conf-file-option # for CollisionDetector --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.004 --timestep 0.004 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/a4af0694-ea4f-11e4-b4de-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/a4af0694-ea4f-11e4-b4de-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [18813]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.227s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-16882.log
no process to kill
Scanning dependencies of target hrp3hand_l_hrpsys_ros_bridge_tutorials_compile
[ 24%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955

Fri Apr 24 16:00:52 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008b0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000024ea3955010049e8
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18824.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a5c763dc-ea4f-11e4-a8a6-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:44605/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a5c763dc-ea4f-11e4-a8a6-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [18968]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a5c763dc-ea4f-11e4-a8a6-605718ad098a
process[rosout-1]: started with pid [19024]
started core service [/rosout]
process[modelloader-2]: started with pid [19040]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [19049]
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) HEAD_JOINT0(14) HEAD_JOINT1(15) RARM_JOINT0(16) RARM_JOINT1(17) RARM_JOINT2(18) RARM_JOINT3(19) RARM_JOINT4(20) RARM_JOINT5(21) RARM_JOINT6(22) RARM_JOINT7(23) LARM_JOINT0(24) LARM_JOINT1(25) LARM_JOINT2(26) LARM_JOINT3(27) LARM_JOINT4(28) LARM_JOINT5(29) LARM_JOINT6(30) LARM_JOINT7(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a5c763dc-ea4f-11e4-a8a6-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18824.log
[ 24%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2956

Fri Apr 24 16:00:54 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008c0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000026ea395501004ad1
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18600.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a6df7426-ea4f-11e4-9386-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:54939/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a6df7426-ea4f-11e4-9386-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [19198]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a6df7426-ea4f-11e4-9386-605718ad098a
process[rosout-1]: started with pid [19255]
started core service [/rosout]
process[modelloader-2]: started with pid [19271]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a6df7426-ea4f-11e4-9386-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [19280]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [19295]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a6df7426-ea4f-11e4-9386-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [19306]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/a6df7426-ea4f-11e4-9386-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 19295, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2951 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10_nosim.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/a6df7426-ea4f-11e4-9386-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/a6df7426-ea4f-11e4-9386-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [19327]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.229s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18600.log
no process to kill
[ 24%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2952
omniORB: Failed to bind to address :: port 2952. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2952
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19326.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a7f2066c-ea4f-11e4-9d10-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:43843/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a7f2066c-ea4f-11e4-9d10-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [19454]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a7f2066c-ea4f-11e4-9d10-605718ad098a
process[rosout-1]: started with pid [19509]
started core service [/rosout]
process[modelloader-2]: started with pid [19525]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [19534]
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint CHEST_JOINT0(0) CHEST_JOINT1(1) HEAD_JOINT0(2) HEAD_JOINT1(3) RARM_JOINT0(4) RARM_JOINT1(5) RARM_JOINT2(6) RARM_JOINT3(7) RARM_JOINT4(8) RARM_JOINT5(9) RARM_JOINT6(10) RARM_JOINT7(11) LARM_JOINT0(12) LARM_JOINT1(13) LARM_JOINT2(14) LARM_JOINT3(15) LARM_JOINT4(16) LARM_JOINT5(17) LARM_JOINT6(18) LARM_JOINT7(19)
omniNames (pid: 18163) is running
Aborting
fail to run rtm_naming, but try to continue
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a7f2066c-ea4f-11e4-9d10-605718ad098a/projectgenerator-3*.log
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19326.log
Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile
[ 24%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955
omniORB: Failed to bind to address :: port 2955. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2955
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19563.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a901a0f8-ea4f-11e4-ac0d-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:59101/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[a901a0f8-ea4f-11e4-ac0d-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [19704]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to a901a0f8-ea4f-11e4-ac0d-605718ad098a
process[rosout-1]: started with pid [19757]
started core service [/rosout]
process[modelloader-2]: started with pid [19773]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [19782]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor lhsensor rhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_HIP_R(0) RLEG_HIP_P(1) RLEG_HIP_Y(2) RLEG_KNEE(3) RLEG_ANKLE_P(4) RLEG_ANKLE_R(5) RARM_SHOULDER_P(6) RARM_SHOULDER_R(7) RARM_SHOULDER_Y(8) RARM_ELBOW(9) RARM_WRIST_Y(10) RARM_WRIST_P(11) RARM_WRIST_R(12) LLEG_HIP_R(13) LLEG_HIP_P(14) LLEG_HIP_Y(15) LLEG_KNEE(16) LLEG_ANKLE_P(17) LLEG_ANKLE_R(18) LARM_SHOULDER_P(19) LARM_SHOULDER_R(20) LARM_SHOULDER_Y(21) LARM_ELBOW(22) LARM_WRIST_Y(23) LARM_WRIST_P(24) LARM_WRIST_R(25) WAIST_P(26) WAIST_R(27) CHEST(28)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/a901a0f8-ea4f-11e4-ac0d-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 18920) is running
Aborting
fail to run rtm_naming, but try to continue
[modelloader-2] killing on exit
Another rostest instance is currently running, waiting until it finished...
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19563.log
[ 25%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955
omniORB: Failed to bind to address :: port 2955. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2955
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19840.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[aa13ba12-ea4f-11e4-afce-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:33867/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[aa13ba12-ea4f-11e4-afce-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [19945]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to aa13ba12-ea4f-11e4-afce-605718ad098a
process[rosout-1]: started with pid [19998]
started core service [/rosout]
process[modelloader-2]: started with pid [20014]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [20023]
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
ProjectGenera 20014 (not omniNames) is using the port.
Starting omniNames aborted. Please use the other port.
fail to run rtm_naming, but try to continue
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/aa13ba12-ea4f-11e4-afce-605718ad098a/projectgenerator-3*.log
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19840.log
[ 26%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2957

Fri Apr 24 16:01:01 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008d0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000002dea395501004eba
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19066.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ab20a564-ea4f-11e4-afd6-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:51912/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ab20a564-ea4f-11e4-afd6-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [20200]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ab20a564-ea4f-11e4-afd6-605718ad098a
process[rosout-1]: started with pid [20257]
started core service [/rosout]
process[modelloader-2]: started with pid [20273]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ab20a564-ea4f-11e4-afd6-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [20282]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [20297]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ab20a564-ea4f-11e4-afd6-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [20308]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ab20a564-ea4f-11e4-afd6-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 20297, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2955 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml --conf-file-option abc_leg_offset: 0.0,0.105,0.0 --conf-file-option #end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.031,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.031,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option # for ThermoEstimator --conf-file-option motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3 --conf-file-option motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0 --conf-file-option alarm_ratio: 0.75 --conf-file-option # for CollisionDetector --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.004 --timestep 0.004 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/ab20a564-ea4f-11e4-afd6-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/ab20a564-ea4f-11e4-afd6-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [20330]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.327s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-19066.log
no process to kill
[ 26%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2957
omniORB: Failed to bind to address :: port 2957. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2957
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18320.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ac36d72a-ea4f-11e4-a213-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:56021/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ac36d72a-ea4f-11e4-a213-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [20489]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ac36d72a-ea4f-11e4-a213-605718ad098a
process[rosout-1]: started with pid [20510]
started core service [/rosout]
process[modelloader-2]: started with pid [20526]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ac36d72a-ea4f-11e4-a213-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [20535]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [20536]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ac36d72a-ea4f-11e4-a213-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 20536, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2952 /opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot_nosim.xml --conf-file-option abc_leg_offset: 0,0.09,0 --conf-file-option abc_stride_parameter: 0.15,0.05,10 --conf-file-option end_effectors: lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, rleg,RLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, larm,LARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, rarm,RARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, --conf-file-option collision_pair: RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/ac36d72a-ea4f-11e4-a213-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/ac36d72a-ea4f-11e4-a213-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [20561]
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 20154) is running
Kill anyway and start omniNames again? (y/N)[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.128s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-18320.log
no process to kill
[ 26%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2955

Fri Apr 24 16:01:05 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008b0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000031ea3955010050be
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20062.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ad3872dc-ea4f-11e4-9e37-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:34530/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ad3872dc-ea4f-11e4-9e37-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [20754]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ad3872dc-ea4f-11e4-9e37-605718ad098a
process[rosout-1]: started with pid [20776]
started core service [/rosout]
process[modelloader-2]: started with pid [20792]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [20801]
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>RARM_JOINT7
Warning: Mass is zero. <Model>HRP2JSKNTS <Link>LARM_JOINT7
omniNames properly started
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) RLEG_JOINT6(6) LLEG_JOINT0(7) LLEG_JOINT1(8) LLEG_JOINT2(9) LLEG_JOINT3(10) LLEG_JOINT4(11) LLEG_JOINT5(12) LLEG_JOINT6(13) CHEST_JOINT0(14) CHEST_JOINT1(15) HEAD_JOINT0(16) HEAD_JOINT1(17) RARM_JOINT0(18) RARM_JOINT1(19) RARM_JOINT2(20) RARM_JOINT3(21) RARM_JOINT4(22) RARM_JOINT5(23) RARM_JOINT6(24) RARM_JOINT7(25) LARM_JOINT0(26) LARM_JOINT1(27) LARM_JOINT2(28) LARM_JOINT3(29) LARM_JOINT4(30) LARM_JOINT5(31) LARM_JOINT6(32) LARM_JOINT7(33)
Another rostest instance is currently running, waiting until it finished...
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/ad3872dc-ea4f-11e4-9e37-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20062.log
[ 26%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2956

Fri Apr 24 16:01:07 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008c0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000033ea3955010051af
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20822.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ae6b8df6-ea4f-11e4-aa7c-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:50601/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ae6b8df6-ea4f-11e4-aa7c-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [20956]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ae6b8df6-ea4f-11e4-aa7c-605718ad098a
process[rosout-1]: started with pid [21013]
started core service [/rosout]
process[modelloader-2]: started with pid [21029]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ae6b8df6-ea4f-11e4-aa7c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [21038]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
process[projectgenerator-3]: started with pid [21063]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ae6b8df6-ea4f-11e4-aa7c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [21071]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/ae6b8df6-ea4f-11e4-aa7c-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 21063, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2955 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_nosim.xml --conf-file-option abc_leg_offset: 0.0,0.105,0.0 --conf-file-option #end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.031,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.031,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708, --conf-file-option # for ThermoEstimator --conf-file-option motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3 --conf-file-option motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0 --conf-file-option alarm_ratio: 0.75 --conf-file-option # for CollisionDetector --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.004 --timestep 0.004 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/ae6b8df6-ea4f-11e4-aa7c-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/ae6b8df6-ea4f-11e4-aa7c-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [21091]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.227s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20822.log
no process to kill
[ 29%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_controller_config.yaml
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20327.log
[ INFO] [1429858869.334880957]: joint R_FOOT is passive, but adding to hierarchy

[ INFO] [1429858869.354457848]: joint L_FOOT is passive, but adding to hierarchy

[ WARN] [1429858869.447531293]: could not find collada joint kmodel1/jointsid1000!

Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2957
omniORB: Failed to bind to address :: port 2957. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2957
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[af7ca3e2-ea4f-11e4-a779-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:46450/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[af7ca3e2-ea4f-11e4-a779-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [21292]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to af7ca3e2-ea4f-11e4-a779-605718ad098a
process[rosout-1]: started with pid [21313]
started core service [/rosout]
process[modelloader-2]: started with pid [21329]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [21338]
Warning:  Joint ID is not given to joint R_F22 of model HRP4R.
Warning:  Joint ID is not given to joint R_F23 of model HRP4R.
Warning:  Joint ID is not given to joint R_F32 of model HRP4R.
Warning:  Joint ID is not given to joint R_F33 of model HRP4R.
Warning:  Joint ID is not given to joint R_F42 of model HRP4R.
Warning:  Joint ID is not given to joint R_F43 of model HRP4R.
Warning:  Joint ID is not given to joint R_F52 of model HRP4R.
Warning:  Joint ID is not given to joint R_F53 of model HRP4R.
Warning:  Joint ID is not given to joint L_F22 of model HRP4R.
Warning:  Joint ID is not given to joint L_F23 of model HRP4R.
Warning:  Joint ID is not given to joint L_F32 of model HRP4R.
Warning:  Joint ID is not given to joint L_F33 of model HRP4R.
Warning:  Joint ID is not given to joint L_F42 of model HRP4R.
Warning:  Joint ID is not given to joint L_F43 of model HRP4R.
Warning:  Joint ID is not given to joint L_F52 of model HRP4R.
Warning:  Joint ID is not given to joint L_F53 of model HRP4R.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint R_HIP_Y(0) R_HIP_R(1) R_HIP_P(2) R_KNEE_P(3) R_ANKLE_P(4) R_ANKLE_R(5) L_HIP_Y(6) L_HIP_R(7) L_HIP_P(8) L_KNEE_P(9) L_ANKLE_P(10) L_ANKLE_R(11) CHEST_P(12) CHEST_Y(13) NECK_Y(14) NECK_P(15) R_SHOULDER_P(16) R_SHOULDER_R(17) R_SHOULDER_Y(18) R_ELBOW_P(19) R_WRIST_Y(20) R_WRIST_P(21) R_WRIST_R(22) R_HAND_J0(23) R_HAND_J1(24) L_SHOULDER_P(25) L_SHOULDER_R(26) L_SHOULDER_Y(27) L_ELBOW_P(28) L_WRIST_Y(29) L_WRIST_P(30) L_WRIST_R(31) L_HAND_J0(32) L_HAND_J1(33)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/af7ca3e2-ea4f-11e4-a779-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 20154) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.321s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-20327.log
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_controller_config.yaml
[ 29%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2958

Fri Apr 24 16:01:11 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008e0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000037ea3955010053f8
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21058.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b09585d2-ea4f-11e4-95ea-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:37760/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b09585d2-ea4f-11e4-95ea-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [21542]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b09585d2-ea4f-11e4-95ea-605718ad098a
process[rosout-1]: started with pid [21598]
started core service [/rosout]
process[modelloader-2]: started with pid [21614]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [21623]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint CHEST_JOINT0(0) CHEST_JOINT1(1) HEAD_JOINT0(2) HEAD_JOINT1(3) RARM_JOINT0(4) RARM_JOINT1(5) RARM_JOINT2(6) RARM_JOINT3(7) RARM_JOINT4(8) RARM_JOINT5(9) RARM_JOINT6(10) RARM_JOINT7(11) LARM_JOINT0(12) LARM_JOINT1(13) LARM_JOINT2(14) LARM_JOINT3(15) LARM_JOINT4(16) LARM_JOINT5(17) LARM_JOINT6(18) LARM_JOINT7(19)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b09585d2-ea4f-11e4-95ea-605718ad098a/projectgenerator-3*.log
omniNames properly started
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.119s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21058.log
[ 32%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile
[ 33%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_controller_config.yaml
[ 33%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2958
omniORB: Failed to bind to address :: port 2958. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2958
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21653.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b1af5dbc-ea4f-11e4-a15e-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:49123/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b1af5dbc-ea4f-11e4-a15e-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [21770]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b1af5dbc-ea4f-11e4-a15e-605718ad098a
process[rosout-1]: started with pid [21827]
started core service [/rosout]
process[modelloader-2]: started with pid [21843]
[ROSTEST]running test projectgenerator
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
openhrp-model 21496 (not omniNames) is using the port.
Starting omniNames aborted. Please use the other port.
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
process[projectgenerator-3]: started with pid [21883]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint L_THUMBCM_Y(0) L_THUMBCM_P(1) L_INDEXMP_R(2) L_INDEXMP_P(3) L_INDEXPIP_R(4) L_MIDDLEPIP_R(5)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b1af5dbc-ea4f-11e4-a15e-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21653.log
[ 33%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2959

Fri Apr 24 16:01:14 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008f0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000003aea3955010055d1
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21435.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b2bb01b6-ea4f-11e4-8011-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:38812/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b2bb01b6-ea4f-11e4-8011-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [22012]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b2bb01b6-ea4f-11e4-8011-605718ad098a
process[rosout-1]: started with pid [22067]
started core service [/rosout]
process[modelloader-2]: started with pid [22083]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b2bb01b6-ea4f-11e4-8011-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22092]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [22107]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b2bb01b6-ea4f-11e4-8011-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22118]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b2bb01b6-ea4f-11e4-8011-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 22107, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2957 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP4R/HRP4Rmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml --conf-file-option virtual_force_sensor: vlhsensor, CHEST_Y, L_WRIST_R, 0,0,0, 0,0,1,0, vrhsensor, CHEST_Y, R_WRIST_R, 0,0,0, 0,0,1,0, vlfsensor, WAIST, L_ANKLE_R, 0,0,0, 0,0,1,0, vrfsensor, WAIST, R_ANKLE_R, 0,0,0, 0,0,1,0 --conf-file-option abc_leg_offset: 0.0, 0.079919, 0.0 --conf-file-option end_effectors: rarm,R_WRIST_R,CHEST_Y,0.0,0.0,-0.1,-1.471962e-17,1.0,-1.471962e-17,1.5708, larm,L_WRIST_R,CHEST_Y,0.0,0.0,-0.1,1.471962e-17,1.0,1.471962e-17,1.5708, rleg,R_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0, lleg,L_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0, --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/b2bb01b6-ea4f-11e4-8011-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/b2bb01b6-ea4f-11e4-8011-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22138]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.127s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21435.log
no process to kill
[ 34%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2957

Fri Apr 24 16:01:16 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008d0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000003cea3955010056d8
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21874.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b3bacad8-ea4f-11e4-803c-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:37067/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b3bacad8-ea4f-11e4-803c-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [22278]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b3bacad8-ea4f-11e4-803c-605718ad098a
process[rosout-1]: started with pid [22335]
started core service [/rosout]
process[modelloader-2]: started with pid [22351]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b3bacad8-ea4f-11e4-803c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22360]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [22375]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b3bacad8-ea4f-11e4-803c-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22386]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/b3bacad8-ea4f-11e4-803c-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 22375, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2958 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_L/HRP3HAND_Lmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/b3bacad8-ea4f-11e4-803c-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/b3bacad8-ea4f-11e4-803c-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [22409]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.229s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-21874.log
no process to kill
[ 34%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_controller_config.yaml
[ 34%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2958

Fri Apr 24 16:01:18 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008e0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000003eea3955010057ed
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22405.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b4c99aee-ea4f-11e4-8157-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:55340/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b4c99aee-ea4f-11e4-8157-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [22552]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b4c99aee-ea4f-11e4-8157-605718ad098a
process[rosout-1]: started with pid [22607]
started core service [/rosout]
process[modelloader-2]: started with pid [22623]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [22632]
omniNames properly started
Warning:  Joint ID is not given to joint R_F22 of model HRP4R.
Warning:  Joint ID is not given to joint R_F23 of model HRP4R.
Warning:  Joint ID is not given to joint R_F32 of model HRP4R.
Warning:  Joint ID is not given to joint R_F33 of model HRP4R.
Warning:  Joint ID is not given to joint R_F42 of model HRP4R.
Warning:  Joint ID is not given to joint R_F43 of model HRP4R.
Warning:  Joint ID is not given to joint R_F52 of model HRP4R.
Warning:  Joint ID is not given to joint R_F53 of model HRP4R.
Warning:  Joint ID is not given to joint L_F22 of model HRP4R.
Warning:  Joint ID is not given to joint L_F23 of model HRP4R.
Warning:  Joint ID is not given to joint L_F32 of model HRP4R.
Warning:  Joint ID is not given to joint L_F33 of model HRP4R.
Warning:  Joint ID is not given to joint L_F42 of model HRP4R.
Warning:  Joint ID is not given to joint L_F43 of model HRP4R.
Warning:  Joint ID is not given to joint L_F52 of model HRP4R.
Warning:  Joint ID is not given to joint L_F53 of model HRP4R.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint R_HIP_Y(0) R_HIP_R(1) R_HIP_P(2) R_KNEE_P(3) R_ANKLE_P(4) R_ANKLE_R(5) L_HIP_Y(6) L_HIP_R(7) L_HIP_P(8) L_KNEE_P(9) L_ANKLE_P(10) L_ANKLE_R(11) CHEST_P(12) CHEST_Y(13) NECK_Y(14) NECK_P(15) R_SHOULDER_P(16) R_SHOULDER_R(17) R_SHOULDER_Y(18) R_ELBOW_P(19) R_WRIST_Y(20) R_WRIST_P(21) R_WRIST_R(22) R_HAND_J0(23) R_HAND_J1(24) L_SHOULDER_P(25) L_SHOULDER_R(26) L_SHOULDER_Y(27) L_ELBOW_P(28) L_WRIST_Y(29) L_WRIST_P(30) L_WRIST_R(31) L_HAND_J0(32) L_HAND_J1(33)
Another rostest instance is currently running, waiting until it finished...
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b4c99aee-ea4f-11e4-8157-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.418s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22405.log
[ 38%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile
[ 38%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2957

Fri Apr 24 16:01:20 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008d0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000040ea3955010058fb
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22650.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b6068e4e-ea4f-11e4-906b-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:36808/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b6068e4e-ea4f-11e4-906b-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [22822]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b6068e4e-ea4f-11e4-906b-605718ad098a
process[rosout-1]: started with pid [22879]
started core service [/rosout]
process[modelloader-2]: started with pid [22895]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [22904]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint L_THUMBCM_Y(0) L_THUMBCM_P(1) L_INDEXMP_R(2) L_INDEXMP_P(3) L_INDEXPIP_R(4) L_MIDDLEPIP_R(5)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b6068e4e-ea4f-11e4-906b-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
omniNames properly started
[modelloader-2] killing on exit
Another rostest instance is currently running, waiting until it finished...
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.117s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22650.log
[ 38%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_L_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2958

Fri Apr 24 16:01:21 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008e0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000041ea3955010059d6
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22137.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b71917d4-ea4f-11e4-a763-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:43449/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b71917d4-ea4f-11e4-a763-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [23044]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b71917d4-ea4f-11e4-a763-605718ad098a
process[rosout-1]: started with pid [23103]
started core service [/rosout]
process[modelloader-2]: started with pid [23119]
[ROSTEST]running test projectgenerator
omniNames properly started
process[projectgenerator-3]: started with pid [23135]
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint R_THUMBCM_Y(0) R_THUMBCM_P(1) R_INDEXMP_R(2) R_INDEXMP_P(3) R_INDEXPIP_R(4) R_MIDDLEPIP_R(5)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b71917d4-ea4f-11e4-a763-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22137.log
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile
[ 38%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2959

Fri Apr 24 16:01:23 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e31363600008f0b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000043ea395501005ac1
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22936.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b8232e8a-ea4f-11e4-84c3-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:37828/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b8232e8a-ea4f-11e4-84c3-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [23278]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b8232e8a-ea4f-11e4-84c3-605718ad098a
process[rosout-1]: started with pid [23331]
started core service [/rosout]
process[modelloader-2]: started with pid [23347]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [23356]
Warning:  Joint ID is not given to joint R_F22 of model HRP4R.
Warning:  Joint ID is not given to joint R_F23 of model HRP4R.
Warning:  Joint ID is not given to joint R_F32 of model HRP4R.
Warning:  Joint ID is not given to joint R_F33 of model HRP4R.
Warning:  Joint ID is not given to joint R_F42 of model HRP4R.
Warning:  Joint ID is not given to joint R_F43 of model HRP4R.
Warning:  Joint ID is not given to joint R_F52 of model HRP4R.
Warning:  Joint ID is not given to joint R_F53 of model HRP4R.
Warning:  Joint ID is not given to joint L_F22 of model HRP4R.
Warning:  Joint ID is not given to joint L_F23 of model HRP4R.
Warning:  Joint ID is not given to joint L_F32 of model HRP4R.
Warning:  Joint ID is not given to joint L_F33 of model HRP4R.
Warning:  Joint ID is not given to joint L_F42 of model HRP4R.
Warning:  Joint ID is not given to joint L_F43 of model HRP4R.
Warning:  Joint ID is not given to joint L_F52 of model HRP4R.
Warning:  Joint ID is not given to joint L_F53 of model HRP4R.
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint R_HIP_Y(0) R_HIP_R(1) R_HIP_P(2) R_KNEE_P(3) R_ANKLE_P(4) R_ANKLE_R(5) L_HIP_Y(6) L_HIP_R(7) L_HIP_P(8) L_KNEE_P(9) L_ANKLE_P(10) L_ANKLE_R(11) CHEST_P(12) CHEST_Y(13) NECK_Y(14) NECK_P(15) R_SHOULDER_P(16) R_SHOULDER_R(17) R_SHOULDER_Y(18) R_ELBOW_P(19) R_WRIST_Y(20) R_WRIST_P(21) R_WRIST_R(22) R_HAND_J0(23) R_HAND_J1(24) L_SHOULDER_P(25) L_SHOULDER_R(26) L_SHOULDER_Y(27) L_ELBOW_P(28) L_WRIST_Y(29) L_WRIST_P(30) L_WRIST_R(31) L_HAND_J0(32) L_HAND_J1(33)
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b8232e8a-ea4f-11e4-84c3-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.319s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-22936.log
[ 38%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2959
omniORB: Failed to bind to address :: port 2959. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2959
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23394.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b9377948-ea4f-11e4-9c86-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:48508/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[b9377948-ea4f-11e4-9c86-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [23524]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to b9377948-ea4f-11e4-9c86-605718ad098a
process[rosout-1]: started with pid [23576]
started core service [/rosout]
process[modelloader-2]: started with pid [23592]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [23601]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint R_THUMBCM_Y(0) R_THUMBCM_P(1) R_INDEXMP_R(2) R_INDEXMP_P(3) R_INDEXPIP_R(4) R_MIDDLEPIP_R(5)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/b9377948-ea4f-11e4-9c86-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 23233) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.018s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23394.log
[ 39%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23132.log
Humanoid node
Joint node WAIST
  Segment node BODY
    Gyrogyrometer
    AccelerationSensorgsensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada /home/takasugi/prog/euslib/rbrain/urataleg/URATALEGmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.dae
[ 39%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_controller_config.yaml
testprojectgenerator (rostest.runner.RosTest) ... [ 39%] [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ba315382-ea4f-11e4-ac6d-605718ad098a] starting
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/urataleg.l
started roslaunch server http://takasugi-ThinkPad-T450:39000/
ros_comm version 1.10.12
SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ba315382-ea4f-11e4-ac6d-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [23810]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ba315382-ea4f-11e4-ac6d-605718ad098a
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor3 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor4 1
Sensor gyrometer is attached to BODY base_imu #sensor1 0
Sensor gsensor is attached to BODY base_imu #sensor2 0
process[rosout-1]: started with pid [23873]
started core service [/rosout]
[ 39%] process[modelloader-2]: started with pid [23890]
[ROSTEST]running test projectgenerator
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
process[projectgenerator-3]: started with pid [23906]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Joint L_THUMBCM_Y(0) L_THUMBCM_P(1) L_INDEXMP_R(2) L_INDEXMP_P(3) L_INDEXPIP_R(4) L_MIDDLEPIP_R(5)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/ba315382-ea4f-11e4-ac6d-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
      Segment node CHEST_LINK0
      Joint node CHEST_JOINT1
          Segment node CHEST_LINK1
          Joint node HEAD_JOINT0
              Segment node HEAD_LINK0
              Joint node HEAD_JOINT1
                  Segment node HEAD_LINK1
                    VisionSensorHEAD_LEFT_CAMERA
          Joint node RARM_JOINT0
              Segment node RARM_LINK0
              Joint node RARM_JOINT1
                  Segment node RARM_LINK1
                  Joint node RARM_JOINT2
                      Segment node RARM_LINK2
                      Joint node RARM_JOINT3
                          Segment node RARM_LINK3
                          Joint node RARM_JOINT4
                              Segment node RARM_LINK4
                              Joint node RARM_JOINT5
                                  Segment node RARM_LINK5
                                  Joint node RARM_JOINT6
                                      Segment node RARM_LINK6
                                      Joint node RARM_JOINT7
                                          Segment node RARM_LINK7
                                            ForceSensorrasensor
          Joint node LARM_JOINT0
              Segment node LARM_LINK0
              Joint node LARM_JOINT1
                  Segment node LARM_LINK1
                  Joint node LARM_JOINT2
                      Segment node LARM_LINK2
                      Joint node LARM_JOINT3
                          Segment node LARM_LINK3
                          Joint node LARM_JOINT4
                              Segment node LARM_LINK4
                              Joint node LARM_JOINT5
                                  Segment node LARM_LINK5
                                  Joint node LARM_JOINT6
                                      Segment node LARM_LINK6
                                      Joint node LARM_JOINT7
                                          Segment node LARM_LINK7
                                            ForceSensorlasensor
  Joint node RLEG_JOINT0
      Segment node RLEG_LINK0
      Joint node RLEG_JOINT1
          Segment node RLEG_LINK1
          Joint node RLEG_JOINT2
              Segment node RLEG_LINK2
              Joint node RLEG_JOINT3
                  Segment node RLEG_LINK3
                  Joint node RLEG_JOINT4
                      Segment node RLEG_LINK4
                      Joint node RLEG_JOINT5
                          Segment node RLEG_LINK5
                            ForceSensorrfsensor
  Joint node LLEG_JOINT0
      Segment node LLEG_LINK0
      Joint node LLEG_JOINT1
          Segment node LLEG_LINK1
          Joint node LLEG_JOINT2
              Segment node LLEG_LINK2
              Joint node LLEG_JOINT3
                  Segment node LLEG_LINK3
                  Joint node LLEG_JOINT4
                      Segment node LLEG_LINK4
                      Joint node LLEG_JOINT5
                          Segment node LLEG_LINK5
                            ForceSensorlfsensor
[master] killing on exit
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.120s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23132.log
[ 39%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_controller_config.yaml
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile
[ 40%] Built target pa10_hrpsys_ros_bridge_tutorials_compile
[ 40%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_controller_config.yaml
[ 40%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2960
Fri Apr 24 16:01:28 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000900b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000048ea395501005e60
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23666.log
/opt/ros/hydro/bin/export-collada /home/takasugi/prog/euslib/rbrain/staro/STAROmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile
[ 41%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile
[ 41%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/URATALEG_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.dae
[ WARN] [1429858889.171413432]: could not find collada joint kmodel1/jointsid1000!

Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile
[ 41%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2960
omniORB: Failed to bind to address :: port 2960. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2960
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bb3f0512-ea4f-11e4-8000-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:36944/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bb3f0512-ea4f-11e4-8000-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [24264]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to bb3f0512-ea4f-11e4-8000-605718ad098a
process[rosout-1]: started with pid [24318]
started core service [/rosout]
process[modelloader-2]: started with pid [24334]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bb3f0512-ea4f-11e4-8000-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24337]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [24358]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bb3f0512-ea4f-11e4-8000-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24369]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bb3f0512-ea4f-11e4-8000-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 24358, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2959 /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP3HAND_R/HRP3HAND_Rmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_nosim.xml --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/bb3f0512-ea4f-11e4-8000-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/bb3f0512-ea4f-11e4-8000-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24384]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] killing on exit
[rosout-1] killing on exit
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 24160) is running
Aborting
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.228s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-23666.log
no process to kill
[ 46%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961

Fri Apr 24 16:01:30 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000910b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000004aea395501005fc4
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24407.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bc5854e4-ea4f-11e4-aca0-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:44436/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bc5854e4-ea4f-11e4-aca0-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [24567]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to bc5854e4-ea4f-11e4-aca0-605718ad098a
process[rosout-1]: started with pid [24624]
started core service [/rosout]
process[modelloader-2]: started with pid [24640]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [24649]
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint LLEG_JOINT0(0) LLEG_JOINT1(1) LLEG_JOINT2(2) LLEG_JOINT3(3) LLEG_JOINT4(4) LLEG_JOINT5(5) RLEG_JOINT0(6) RLEG_JOINT1(7) RLEG_JOINT2(8) RLEG_JOINT3(9) RLEG_JOINT4(10) RLEG_JOINT5(11)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/bc5854e4-ea4f-11e4-aca0-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.218s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24407.log
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961
omniORB: Failed to bind to address :: port 2961. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2961
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24467.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bd6bc6e0-ea4f-11e4-8a66-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:35658/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bd6bc6e0-ea4f-11e4-8a66-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [24784]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to bd6bc6e0-ea4f-11e4-8a66-605718ad098a
process[rosout-1]: started with pid [24841]
started core service [/rosout]
process[modelloader-2]: started with pid [24857]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bd6bc6e0-ea4f-11e4-8a66-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24866]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [24881]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bd6bc6e0-ea4f-11e4-8a66-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24893]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 24516) is running
Aborting
fail to run rtm_naming, but try to continue
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/bd6bc6e0-ea4f-11e4-8a66-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 24881, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2960 /home/takasugi/prog/euslib/rbrain/urataleg/URATALEGmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG.xml --conf-file-option abc_leg_offset: 0.0, 0.08, 0.0 --conf-file-option end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, --conf-file-option collision_loop: 10 --conf-file-option collision_pair: WAIST:LLEG_JOINT1 WAIST:LLEG_JOINT3 WAIST:LLEG_JOINT4 WAIST:RLEG_JOINT1 WAIST:RLEG_JOINT2 WAIST:RLEG_JOINT3 WAIST:RLEG_JOINT4 WAIST:RLEG_JOINT5 LLEG_JOINT0:RLEG_JOINT0 LLEG_JOINT0:LLEG_JOINT3 LLEG_JOINT0:LLEG_JOINT4 LLEG_JOINT0:LLEG_JOINT5 LLEG_JOINT0:RLEG_JOINT1 LLEG_JOINT0:RLEG_JOINT2 LLEG_JOINT0:RLEG_JOINT3 LLEG_JOINT0:RLEG_JOINT4 LLEG_JOINT0:RLEG_JOINT5 RLEG_JOINT0:LLEG_JOINT1 RLEG_JOINT0:LLEG_JOINT2 RLEG_JOINT0:LLEG_JOINT3 RLEG_JOINT0:LLEG_JOINT4 RLEG_JOINT0:LLEG_JOINT5 RLEG_JOINT0:RLEG_JOINT3 RLEG_JOINT0:RLEG_JOINT4 RLEG_JOINT0:RLEG_JOINT5 LLEG_JOINT1:LLEG_JOINT3 LLEG_JOINT1:LLEG_JOINT4 LLEG_JOINT1:LLEG_JOINT5 LLEG_JOINT1:RLEG_JOINT1 LLEG_JOINT1:RLEG_JOINT2 LLEG_JOINT1:RLEG_JOINT3 LLEG_JOINT1:RLEG_JOINT4 LLEG_JOINT1:RLEG_JOINT5 LLEG_JOINT2:LLEG_JOINT4 LLEG_JOINT2:LLEG_JOINT5 LLEG_JOINT2:RLEG_JOINT1 LLEG_JOINT2:RLEG_JOINT2 LLEG_JOINT2:RLEG_JOINT3 LLEG_JOINT2:RLEG_JOINT4 LLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT3:RLEG_JOINT1 LLEG_JOINT3:RLEG_JOINT2 LLEG_JOINT3:RLEG_JOINT3 LLEG_JOINT3:RLEG_JOINT4 LLEG_JOINT3:RLEG_JOINT5 LLEG_JOINT4:RLEG_JOINT1 LLEG_JOINT4:RLEG_JOINT2 LLEG_JOINT4:RLEG_JOINT3 LLEG_JOINT4:RLEG_JOINT4 LLEG_JOINT4:RLEG_JOINT5 LLEG_JOINT5:RLEG_JOINT1 LLEG_JOINT5:RLEG_JOINT2 LLEG_JOINT5:RLEG_JOINT3 LLEG_JOINT5:RLEG_JOINT4 LLEG_JOINT5:RLEG_JOINT5 RLEG_JOINT1:RLEG_JOINT3 RLEG_JOINT1:RLEG_JOINT4 RLEG_JOINT1:RLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT4 RLEG_JOINT2:RLEG_JOINT5 --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.002 --timestep 0.002 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/bd6bc6e0-ea4f-11e4-8a66-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/bd6bc6e0-ea4f-11e4-8a66-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [24938]
Another rostest instance is currently running, waiting until it finished...
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.229s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24467.log
no process to kill
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24930.log
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor rasensor is attached to RARM_LINK7 base_force6d #sensor4 2
Sensor lasensor is attached to LARM_LINK7 base_force6d #sensor5 3
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor6 1
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[be7b87be-ea4f-11e4-aae6-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:45133/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[be7b87be-ea4f-11e4-aae6-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [25055]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to be7b87be-ea4f-11e4-aae6-605718ad098a
Scanning dependencies of target testmdofarm_hrpsys_ros_bridge_tutorials_compile
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2960
Fri Apr 24 16:01:34 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000900b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000004eea395501006228
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
process[rosout-1]: started with pid [25151]
started core service [/rosout]
process[modelloader-2]: started with pid [25167]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [25176]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/be7b87be-ea4f-11e4-aae6-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.424s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24930.log
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25240.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bfa764b4-ea4f-11e4-ba60-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:58617/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[bfa764b4-ea4f-11e4-ba60-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [25301]
Humanoid node
Joint node WAIST
  Segment node BODY
    AccelerationSensorgsensor
    Gyrogyrometer
  Joint node CHEST_JOINT0
    Segment node CHEST_LINK0
    Joint node CHEST_JOINT1
      Segment node CHEST_LINK1
      Joint node CHEST_JOINT2
        Segment node CHEST_LINK2
        Joint node HEAD_JOINT0
          Segment node HEAD_LINK0
          Joint node HEAD_JOINT1
            Segment node HEAD_LINK1
              VisionSensorHEAD_LEFT_CAMERA
        Joint node LARM_JOINT0
          Segment node LARM_LINK0
          Joint node LARM_JOINT1
            Segment node LARM_LINK1
            Joint node LARM_JOINT2
              Segment node LARM_LINK2
              Joint node LARM_JOINT3
                Segment node LARM_LINK3
                Joint node LARM_JOINT4
                  Segment node LARM_LINK4
                  Joint node LARM_JOINT5
                    Segment node LARM_LINK5
                    Joint node LARM_JOINT6
                      Segment node LARM_LINK6
                      Joint node LARM_JOINT7
                        Segment node LARM_LINK7
                          ForceSensorlhsensor
        Joint node RARM_JOINT0
          Segment node RARM_LINK0
          Joint node RARM_JOINT1
            Segment node RARM_LINK1
            Joint node RARM_JOINT2
              Segment node RARM_LINK2
              Joint node RARM_JOINT3
                Segment node RARM_LINK3
                Joint node RARM_JOINT4
                  Segment node RARM_LINK4
                  Joint node RARM_JOINT5
                    Segment node RARM_LINK5
                    Joint node RARM_JOINT6
                      Segment node RARM_LINK6
                      Joint node RARM_JOINT7
                        Segment node RARM_LINK7
                          ForceSensorrhsensor
  Joint node LLEG_JOINT0
    Segment node LLEG_LINK0
    Joint node LLEG_JOINT1
      Segment node LLEG_LINK1
      Joint node LLEG_JOINT2
        Segment node LLEG_LINK2
        Joint node LLEG_JOINT3
          Segment node LLEG_LINK3
          Joint node LLEG_JOINT4
            Segment node LLEG_LINK4
            Joint node LLEG_JOINT5
              Segment node LLEG_LINK5
                ForceSensorlfsensor
  Joint node RLEG_JOINT0
    Segment node RLEG_LINK0
    Joint node RLEG_JOINT1
      Segment node RLEG_LINK1
      Joint node RLEG_JOINT2
        Segment node RLEG_LINK2
        Joint node RLEG_JOINT3
          Segment node RLEG_LINK3
          Joint node RLEG_JOINT4
            Segment node RLEG_LINK4
            Joint node RLEG_JOINT5
              Segment node RLEG_LINK5
                ForceSensorrfsensor
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to bfa764b4-ea4f-11e4-ba60-605718ad098a
process[rosout-1]: started with pid [25508]
started core service [/rosout]
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
process[modelloader-2]: started with pid [25528]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [25537]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint LLEG_JOINT0(0) LLEG_JOINT1(1) LLEG_JOINT2(2) LLEG_JOINT3(3) LLEG_JOINT4(4) LLEG_JOINT5(5) RLEG_JOINT0(6) RLEG_JOINT1(7) RLEG_JOINT2(8) RLEG_JOINT3(9) RLEG_JOINT4(10) RLEG_JOINT5(11)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/bfa764b4-ea4f-11e4-ba60-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
/opt/ros/hydro/bin/export-collada /home/takasugi/prog/euslib/rbrain/jaxon/JAXONmain.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
[ 46%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2960
omniORB: Failed to bind to address :: port 2960. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2960
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.321s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25240.log
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961

Fri Apr 24 16:01:38 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000910b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000052ea395501006433
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24665.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c0cc616e-ea4f-11e4-a648-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:40391/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c0cc616e-ea4f-11e4-a648-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [25700]
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 1891
25651) is running
Aborting
fail to run rtm_naming, but try to continue
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c0cc616e-ea4f-11e4-a648-605718ad098a
Another rostest instance is currently running, waiting until it finished...
process[rosout-1]: started with pid [25780]
started core service [/rosout]
process[modelloader-2]: started with pid [25796]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [25805]
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/c0cc616e-ea4f-11e4-a648-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.419s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-24665.log
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25821.log
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor rasensor is attached to RARM_LINK7 base_force6d #sensor4 2
Sensor lasensor is attached to LARM_LINK7 base_force6d #sensor5 3
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor6 1
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c1fd1f6a-ea4f-11e4-b5db-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:55954/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c1fd1f6a-ea4f-11e4-b5db-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [25939]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c1fd1f6a-ea4f-11e4-b5db-605718ad098a
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2960

Fri Apr 24 16:01:40 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000900b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000054ea395501006594
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
process[rosout-1]: started with pid [26035]
started core service [/rosout]
process[modelloader-2]: started with pid [26051]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c1fd1f6a-ea4f-11e4-b5db-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [26060]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [26075]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c1fd1f6a-ea4f-11e4-b5db-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [26080]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c1fd1f6a-ea4f-11e4-b5db-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 26075, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2961 /home/takasugi/prog/euslib/rbrain/staro/STAROmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.xml --conf-file-option abc_leg_offset: 0.0, 0.1, 0.0 --conf-file-option end_effectors: rarm,RARM_JOINT7,CHEST_JOINT1,0.0,-0.15701,0.0,0.57735,-0.57735,-0.57735,2.0944, larm,LARM_JOINT7,CHEST_JOINT1,-5.684342e-17,0.15701,-1.136868e-16,-0.57735,-0.57735,0.57735,2.0944, rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, --conf-file-option torque_offset: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option torque_filter_params: 2, 1.0, 1.88903, -0.89487, 0.0014603, 0.0029206, 0.0014603 --conf-file-option error_to_torque_gain: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option error_dead_zone: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option torque_gain: 0.0001 --conf-file-option collision_loop: 20 --conf-file-option collision_pair: WAIST:RARM_JOINT2 WAIST:LARM_JOINT2 RLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT2:LLEG_JOINT5 RARM_JOINT7:LARM_JOINT7 RARM_JOINT6:LARM_JOINT7 RARM_JOINT7:LARM_JOINT6 LARM_JOINT7:RLEG_JOINT5 RARM_JOINT7:RLEG_JOINT5 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:LLEG_JOINT5 LARM_JOINT7:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT7:RLEG_JOINT4 LARM_JOINT7:RLEG_JOINT4 RARM_JOINT7:LLEG_JOINT4 LARM_JOINT6:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT5 LARM_JOINT6:RLEG_JOINT5 RARM_JOINT4:LARM_JOINT7 RARM_JOINT7:LARM_JOINT4 RARM_JOINT6:LLEG_JOINT5 LARM_JOINT7:LLEG_JOINT4 RARM_JOINT5:LARM_JOINT6 RARM_JOINT6:RLEG_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT7:RLEG_JOINT3 LARM_JOINT7:LLEG_JOINT3 RARM_JOINT7:LLEG_JOINT3 RARM_JOINT7:LARM_JOINT3 RARM_JOINT5:LARM_JOINT5 LARM_JOINT7:RLEG_JOINT3 RARM_JOINT6:LLEG_JOINT4 LARM_JOINT6:LLEG_JOINT4 RARM_JOINT6:RLEG_JOINT4 RLEG_JOINT5:LLEG_JOINT5 LARM_JOINT5:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT5 RARM_JOINT3:LARM_JOINT7 LARM_JOINT5:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT4 LARM_JOINT6:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT4 LARM_JOINT6:RLEG_JOINT3 LARM_JOINT5:RLEG_JOINT4 RARM_JOINT6:LLEG_JOINT3 RARM_JOINT5:RLEG_JOINT4 RARM_JOINT2:LARM_JOINT7 RARM_JOINT5:LARM_JOINT4 LARM_JOINT4:LLEG_JOINT5 RARM_JOINT6:RLEG_JOINT3 RARM_JOINT7:LARM_JOINT2 LARM_JOINT4:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT5 RARM_JOINT4:RLEG_JOINT5 RARM_JOINT7:RLEG_JOINT2 RARM_JOINT6:LARM_JOINT3 LARM_JOINT7:RLEG_JOINT2 LARM_JOINT5:LLEG_JOINT4 RARM_JOINT4:LLEG_JOINT5 RARM_JOINT4:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 LARM_JOINT7:LLEG_JOINT2 RARM_JOINT7:LLEG_JOINT2 RARM_JOINT3:LLEG_JOINT5 RARM_JOINT3:LARM_JOINT5 RARM_JOINT6:RLEG_JOINT2 RARM_JOINT5:LLEG_JOINT3 RARM_JOINT3:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT3 RARM_JOINT6:LLEG_JOINT2 LARM_JOINT5:RLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT3 LARM_JOINT4:LLEG_JOINT4 LARM_JOINT4:RLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT4 LARM_JOINT3:LLEG_JOINT5 LARM_JOINT5:LLEG_JOINT3 LARM_JOINT3:RLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT5 RARM_JOINT5:LARM_JOINT3 LARM_JOINT6:RLEG_JOINT2 LARM_JOINT6:LLEG_JOINT2 RARM_JOINT1:LARM_JOINT7 RARM_JOINT7:LARM_JOINT1 RARM_JOINT5:RLEG_JOINT2 LARM_JOINT5:LLEG_JOINT2 RARM_JOINT4:LLEG_JOINT3 LARM_JOINT5:RLEG_JOINT2 LARM_JOINT4:LLEG_JOINT3 LARM_JOINT4:RLEG_JOINT3 LARM_JOINT3:LLEG_JOINT4 LARM_JOINT3:RLEG_JOINT4 LARM_JOINT2:LLEG_JOINT5 LARM_JOINT2:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT2 LARM_JOINT7:RLEG_JOINT0 RARM_JOINT7:LLEG_JOINT0 RARM_JOINT7:RLEG_JOINT0 RARM_JOINT2:RLEG_JOINT5 RARM_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT4 RARM_JOINT3:RLEG_JOINT4 LARM_JOINT7:LLEG_JOINT0 RARM_JOINT3:LLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT3 RARM_JOINT4:RLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT2 RARM_JOINT1:LLEG_JOINT5 WAIST:RARM_JOINT7 RLEG_JOINT1:LLEG_JOINT5 RARM_JOINT1:RLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT4 LARM_JOINT1:RLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT1 LARM_JOINT6:LLEG_JOINT0 LARM_JOINT1:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT3 LARM_JOINT4:LLEG_JOINT2 WAIST:LARM_JOINT7 RARM_JOINT4:LLEG_JOINT2 LARM_JOINT4:RLEG_JOINT2 LARM_JOINT3:RLEG_JOINT3 RLEG_JOINT4:LLEG_JOINT2 LARM_JOINT3:LLEG_JOINT3 RARM_JOINT6:RLEG_JOINT0 RARM_JOINT4:RLEG_JOINT2 RARM_JOINT3:RLEG_JOINT3 RARM_JOINT2:RLEG_JOINT4 RARM_JOINT6:LLEG_JOINT0 RARM_JOINT3:LLEG_JOINT3 RARM_JOINT0:RARM_JOINT7 LARM_JOINT2:RLEG_JOINT3 LARM_JOINT0:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT2 LARM_JOINT3:RLEG_JOINT2 RARM_JOINT0:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT0 LARM_JOINT3:LLEG_JOINT2 LARM_JOINT2:LLEG_JOINT3 RARM_JOINT3:RLEG_JOINT2 RARM_JOINT3:LLEG_JOINT2 RARM_JOINT5:LLEG_JOINT0 RLEG_JOINT4:LLEG_JOINT1 RLEG_JOINT0:LLEG_JOINT5 WAIST:RARM_JOINT6 LARM_JOINT5:RLEG_JOINT0 RARM_JOINT1:RLEG_JOINT4 WAIST:LARM_JOINT6 RLEG_JOINT2:LLEG_JOINT3 LARM_JOINT0:LARM_JOINT7 RARM_JOINT2:RLEG_JOINT3 LARM_JOINT5:LLEG_JOINT0 RLEG_JOINT5:LLEG_JOINT0 RARM_JOINT0:RARM_JOINT6 WAIST:RARM_JOINT5 WAIST:RLEG_JOINT5 WAIST:LARM_JOINT5 WAIST:LLEG_JOINT5 LARM_JOINT4:LLEG_JOINT0 RARM_JOINT4:RLEG_JOINT0 RLEG_JOINT0:LLEG_JOINT4 RLEG_JOINT1:LLEG_JOINT3 RARM_JOINT1:RLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT2 LARM_JOINT0:LARM_JOINT6 RARM_JOINT1:RARM_JOINT7 RLEG_JOINT4:LLEG_JOINT0 LARM_JOINT2:LLEG_JOINT2 LARM_JOINT2:RLEG_JOINT2 RARM_JOINT0:RLEG_JOINT4 LARM_JOINT1:LLEG_JOINT3 LARM_JOINT1:RLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT1 LARM_JOINT1:LARM_JOINT7 RLEG_JOINT2:LLEG_JOINT1 RLEG_JOINT1:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT0 RLEG_JOINT0:LLEG_JOINT3 RLEG_JOINT0:RLEG_JOINT5 LLEG_JOINT0:LLEG_JOINT5 RARM_JOINT0:RLEG_JOINT3 WAIST:LLEG_JOINT4 LARM_JOINT0:LARM_JOINT5 RARM_JOINT3:RLEG_JOINT0 RARM_JOINT0:RARM_JOINT5 LARM_JOINT3:LLEG_JOINT0 RARM_JOINT0:LLEG_JOINT3 RARM_JOINT2:RARM_JOINT7 RARM_JOINT1:RARM_JOINT6 RARM_JOINT1:RLEG_JOINT2 LARM_JOINT1:LLEG_JOINT2 WAIST:RARM_JOINT4 LARM_JOINT2:LARM_JOINT7 LARM_JOINT0:RLEG_JOINT3 WAIST:LARM_JOINT4 LARM_JOINT1:RLEG_JOINT2 LARM_JOINT1:LARM_JOINT6 WAIST:RLEG_JOINT4 LARM_JOINT0:LLEG_JOINT3 WAIST:RLEG_JOINT3 RARM_JOINT0:RLEG_JOINT2 WAIST:LARM_JOINT3 RLEG_JOINT1:RLEG_JOINT5 RARM_JOINT1:RARM_JOINT5 WAIST:RARM_JOINT3 WAIST:LLEG_JOINT3 LARM_JOINT3:LARM_JOINT7 LARM_JOINT1:LARM_JOINT5 LARM_JOINT0:LLEG_JOINT2 LARM_JOINT0:RLEG_JOINT2 RARM_JOINT3:RARM_JOINT7 RLEG_JOINT0:LLEG_JOINT2 LLEG_JOINT1:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT0 WAIST:RARM_JOINT2 LLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT5 WAIST:LARM_JOINT2 --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.002 --timestep 0.002 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/c1fd1f6a-ea4f-11e4-b5db-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/c1fd1f6a-ea4f-11e4-b5db-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [26101]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.232s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25821.log
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
no process to kill
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25757.log
[ WARN] [1429858902.464847390]: could not find collada joint kmodel1/jointsid1000!

testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c31fa138-ea4f-11e4-b09b-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:42564/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c31fa138-ea4f-11e4-b09b-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [26236]
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2962
Fri Apr 24 16:01:42 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000920b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000056ea395501006691
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c31fa138-ea4f-11e4-b09b-605718ad098a
process[rosout-1]: started with pid [26323]
started core service [/rosout]
process[modelloader-2]: started with pid [26339]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [26348]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint LLEG_JOINT0(0) LLEG_JOINT1(1) LLEG_JOINT2(2) LLEG_JOINT3(3) LLEG_JOINT4(4) LLEG_JOINT5(5) RLEG_JOINT0(6) RLEG_JOINT1(7) RLEG_JOINT2(8) RLEG_JOINT3(9) RLEG_JOINT4(10) RLEG_JOINT5(11)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/c31fa138-ea4f-11e4-b09b-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.219s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-25757.log
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961

Fri Apr 24 16:01:43 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000910b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000057ea395501006753
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26408.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c427725e-ea4f-11e4-94f7-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:52711/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c427725e-ea4f-11e4-94f7-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [26494]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c427725e-ea4f-11e4-94f7-605718ad098a
process[rosout-1]: started with pid [26551]
started core service [/rosout]
process[modelloader-2]: started with pid [26567]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [26576]
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) CHEST_JOINT2(14) HEAD_JOINT0(15) HEAD_JOINT1(16) RARM_JOINT0(17) RARM_JOINT1(18) RARM_JOINT2(19) RARM_JOINT3(20) RARM_JOINT4(21) RARM_JOINT5(22) RARM_JOINT6(23) RARM_JOINT7(24) LARM_JOINT0(25) LARM_JOINT1(26) LARM_JOINT2(27) LARM_JOINT3(28) LARM_JOINT4(29) LARM_JOINT5(30) LARM_JOINT6(31) LARM_JOINT7(32)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/c427725e-ea4f-11e4-94f7-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.820s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26408.log
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/jaxon.l
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26594.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c5942eca-ea4f-11e4-899f-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:47426/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c5942eca-ea4f-11e4-899f-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [26702]
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor lhsensor is attached to LARM_LINK7 base_force6d #sensor4 3
Sensor rhsensor is attached to RARM_LINK7 base_force6d #sensor5 2
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor6 1
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c5942eca-ea4f-11e4-899f-605718ad098a
process[rosout-1]: started with pid [26773]
started core service [/rosout]
process[modelloader-2]: started with pid [26789]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [26798]
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.dae
Humanoid node
Joint node WAIST
  Segment node link0_S
  Joint node link1
    Segment node link1_S
    Joint node link2
      Segment node link2_S
      Joint node link3
        Segment node link3_S
        Joint node link4
          Segment node link4_S
          Joint node link5
            Segment node link5_S
            Joint node link6
              Segment node link6_S
              Joint node link7
                Segment node link7_S
                Joint node link8
                  Segment node link8_S
                  Joint node link9
                    Segment node link9_S
                      AccelerationSensorgsensor
                      Gyrogyrometer
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
/opt/ros/hydro/bin/export-collada /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.wrl was successfully exported to /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.dae
[ 47%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_controller_config.yaml
[ 48%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/testmdofarm.l
Sensor gsensor is attached to link9_S base_imu #sensor1 0
Sensor gyrometer is attached to link9_S base_imu #sensor2 0
[ 48%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961
omniORB: Failed to bind to address :: port 2961. Address in use?
omniORB: Error: Unable to create an endpoint of this description: giop:tcp::2961
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/c5942eca-ea4f-11e4-899f-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.522s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26594.log
[ 49%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26164.log
omniNames might be started /etc/init.d/omniorb4-nameserver.
Stop it (password for sudo is required.)
Aborted.
fail to run rtm_naming, but try to continue
Another rostest instance is currently running, waiting until it finished...
[ WARN] [1429858908.863920428]: could not find collada joint kmodel1/jointsid1000!

testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c6f15e6e-ea4f-11e4-93bb-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:52345/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c6f15e6e-ea4f-11e4-93bb-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [27054]
[ 49%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2962

Fri Apr 24 16:01:49 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000920b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000005dea3955010069e1
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c6f15e6e-ea4f-11e4-93bb-605718ad098a
process[rosout-1]: started with pid [27146]
started core service [/rosout]
process[modelloader-2]: started with pid [27162]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c6f15e6e-ea4f-11e4-93bb-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27165]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [27186]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c6f15e6e-ea4f-11e4-93bb-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27198]
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c6f15e6e-ea4f-11e4-93bb-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 27186, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2960 /home/takasugi/prog/euslib/rbrain/urataleg/URATALEGmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/URATALEG_nosim.xml --conf-file-option abc_leg_offset: 0.0, 0.08, 0.0 --conf-file-option end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, --conf-file-option collision_loop: 10 --conf-file-option collision_pair: WAIST:LLEG_JOINT1 WAIST:LLEG_JOINT3 WAIST:LLEG_JOINT4 WAIST:RLEG_JOINT1 WAIST:RLEG_JOINT2 WAIST:RLEG_JOINT3 WAIST:RLEG_JOINT4 WAIST:RLEG_JOINT5 LLEG_JOINT0:RLEG_JOINT0 LLEG_JOINT0:LLEG_JOINT3 LLEG_JOINT0:LLEG_JOINT4 LLEG_JOINT0:LLEG_JOINT5 LLEG_JOINT0:RLEG_JOINT1 LLEG_JOINT0:RLEG_JOINT2 LLEG_JOINT0:RLEG_JOINT3 LLEG_JOINT0:RLEG_JOINT4 LLEG_JOINT0:RLEG_JOINT5 RLEG_JOINT0:LLEG_JOINT1 RLEG_JOINT0:LLEG_JOINT2 RLEG_JOINT0:LLEG_JOINT3 RLEG_JOINT0:LLEG_JOINT4 RLEG_JOINT0:LLEG_JOINT5 RLEG_JOINT0:RLEG_JOINT3 RLEG_JOINT0:RLEG_JOINT4 RLEG_JOINT0:RLEG_JOINT5 LLEG_JOINT1:LLEG_JOINT3 LLEG_JOINT1:LLEG_JOINT4 LLEG_JOINT1:LLEG_JOINT5 LLEG_JOINT1:RLEG_JOINT1 LLEG_JOINT1:RLEG_JOINT2 LLEG_JOINT1:RLEG_JOINT3 LLEG_JOINT1:RLEG_JOINT4 LLEG_JOINT1:RLEG_JOINT5 LLEG_JOINT2:LLEG_JOINT4 LLEG_JOINT2:LLEG_JOINT5 LLEG_JOINT2:RLEG_JOINT1 LLEG_JOINT2:RLEG_JOINT2 LLEG_JOINT2:RLEG_JOINT3 LLEG_JOINT2:RLEG_JOINT4 LLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT3:RLEG_JOINT1 LLEG_JOINT3:RLEG_JOINT2 LLEG_JOINT3:RLEG_JOINT3 LLEG_JOINT3:RLEG_JOINT4 LLEG_JOINT3:RLEG_JOINT5 LLEG_JOINT4:RLEG_JOINT1 LLEG_JOINT4:RLEG_JOINT2 LLEG_JOINT4:RLEG_JOINT3 LLEG_JOINT4:RLEG_JOINT4 LLEG_JOINT4:RLEG_JOINT5 LLEG_JOINT5:RLEG_JOINT1 LLEG_JOINT5:RLEG_JOINT2 LLEG_JOINT5:RLEG_JOINT3 LLEG_JOINT5:RLEG_JOINT4 LLEG_JOINT5:RLEG_JOINT5 RLEG_JOINT1:RLEG_JOINT3 RLEG_JOINT1:RLEG_JOINT4 RLEG_JOINT1:RLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT4 RLEG_JOINT2:RLEG_JOINT5 --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.002 --timestep 0.002 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/c6f15e6e-ea4f-11e4-93bb-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/c6f15e6e-ea4f-11e4-93bb-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27212]
IDL:omg.org/CORBA/TRANSIENT:1.0
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.231s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-26164.log
no process to kill
[ 49%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2961

Fri Apr 24 16:01:50 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000910b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000005eea395501006ab1
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27021.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c807c2b6-ea4f-11e4-a568-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:34540/
ros_comm version 1.10.12

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c807c2b6-ea4f-11e4-a568-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [27357]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c807c2b6-ea4f-11e4-a568-605718ad098a
process[rosout-1]: started with pid [27412]
started core service [/rosout]
process[modelloader-2]: started with pid [27428]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [27437]
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE lfsensor rfsensor rasensor lasensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RARM_JOINT0(0) RARM_JOINT1(1) RARM_JOINT2(2) RARM_JOINT3(3) RARM_JOINT4(4) RARM_JOINT5(5) RARM_JOINT6(6) RARM_JOINT7(7) LARM_JOINT0(8) LARM_JOINT1(9) LARM_JOINT2(10) LARM_JOINT3(11) LARM_JOINT4(12) LARM_JOINT5(13) LARM_JOINT6(14) LARM_JOINT7(15) RLEG_JOINT0(16) RLEG_JOINT1(17) RLEG_JOINT2(18) RLEG_JOINT3(19) RLEG_JOINT4(20) RLEG_JOINT5(21) LLEG_JOINT0(22) LLEG_JOINT1(23) LLEG_JOINT2(24) LLEG_JOINT3(25) LLEG_JOINT4(26) LLEG_JOINT5(27) HEAD_JOINT0(28) HEAD_JOINT1(29) CHEST_JOINT0(30) CHEST_JOINT1(31)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/c807c2b6-ea4f-11e4-a568-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.418s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27021.log
[ 49%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2962
omniORB: Failed to bind to address :: port 2962. Address in use?
omniORB: Error Unable to create an endpoint of this description: giop:tcp::2962
Failed to initialise the ORB / POA: INITIALIZE_TransportError
Is omniNames already running?
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27453.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c9351e04-ea4f-11e4-b0db-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:59494/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[c9351e04-ea4f-11e4-b0db-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [27578]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to c9351e04-ea4f-11e4-b0db-605718ad098a
process[rosout-1]: started with pid [27635]
started core service [/rosout]
process[modelloader-2]: started with pid [27651]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c9351e04-ea4f-11e4-b0db-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27660]
IDL:omg.org/CORBA/TRANSIENT:1.0
process[projectgenerator-3]: started with pid [27675]
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c9351e04-ea4f-11e4-b0db-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27680]
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames was not properly started.
(Not all processes could be identified, non-owned process info
 will not be shown, you would have to be root to see it all.)
omniNames (pid: 27105) is running
Aborting
fail to run rtm_naming, but try to continue
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/c9351e04-ea4f-11e4-b0db-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 27675, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2961 /home/takasugi/prog/euslib/rbrain/staro/STAROmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate false --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_nosim.xml --conf-file-option abc_leg_offset: 0.0, 0.1, 0.0 --conf-file-option end_effectors: rarm,RARM_JOINT7,CHEST_JOINT1,0.0,-0.15701,0.0,0.57735,-0.57735,-0.57735,2.0944, larm,LARM_JOINT7,CHEST_JOINT1,-5.684342e-17,0.15701,-1.136868e-16,-0.57735,-0.57735,0.57735,2.0944, rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, --conf-file-option torque_offset: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option torque_filter_params: 2, 1.0, 1.88903, -0.89487, 0.0014603, 0.0029206, 0.0014603 --conf-file-option error_to_torque_gain: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option error_dead_zone: 0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0,   0, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0 --conf-file-option torque_gain: 0.0001 --conf-file-option collision_loop: 20 --conf-file-option collision_pair: WAIST:RARM_JOINT2 WAIST:LARM_JOINT2 RLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT2:LLEG_JOINT5 RARM_JOINT7:LARM_JOINT7 RARM_JOINT6:LARM_JOINT7 RARM_JOINT7:LARM_JOINT6 LARM_JOINT7:RLEG_JOINT5 RARM_JOINT7:RLEG_JOINT5 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:LLEG_JOINT5 LARM_JOINT7:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT7:RLEG_JOINT4 LARM_JOINT7:RLEG_JOINT4 RARM_JOINT7:LLEG_JOINT4 LARM_JOINT6:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT5 LARM_JOINT6:RLEG_JOINT5 RARM_JOINT4:LARM_JOINT7 RARM_JOINT7:LARM_JOINT4 RARM_JOINT6:LLEG_JOINT5 LARM_JOINT7:LLEG_JOINT4 RARM_JOINT5:LARM_JOINT6 RARM_JOINT6:RLEG_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT7:RLEG_JOINT3 LARM_JOINT7:LLEG_JOINT3 RARM_JOINT7:LLEG_JOINT3 RARM_JOINT7:LARM_JOINT3 RARM_JOINT5:LARM_JOINT5 LARM_JOINT7:RLEG_JOINT3 RARM_JOINT6:LLEG_JOINT4 LARM_JOINT6:LLEG_JOINT4 RARM_JOINT6:RLEG_JOINT4 RLEG_JOINT5:LLEG_JOINT5 LARM_JOINT5:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT5 RARM_JOINT3:LARM_JOINT7 LARM_JOINT5:LLEG_JOINT5 RARM_JOINT6:LARM_JOINT4 LARM_JOINT6:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT4 LARM_JOINT6:RLEG_JOINT3 LARM_JOINT5:RLEG_JOINT4 RARM_JOINT6:LLEG_JOINT3 RARM_JOINT5:RLEG_JOINT4 RARM_JOINT2:LARM_JOINT7 RARM_JOINT5:LARM_JOINT4 LARM_JOINT4:LLEG_JOINT5 RARM_JOINT6:RLEG_JOINT3 RARM_JOINT7:LARM_JOINT2 LARM_JOINT4:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT5 RARM_JOINT4:RLEG_JOINT5 RARM_JOINT7:RLEG_JOINT2 RARM_JOINT6:LARM_JOINT3 LARM_JOINT7:RLEG_JOINT2 LARM_JOINT5:LLEG_JOINT4 RARM_JOINT4:LLEG_JOINT5 RARM_JOINT4:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 LARM_JOINT7:LLEG_JOINT2 RARM_JOINT7:LLEG_JOINT2 RARM_JOINT3:LLEG_JOINT5 RARM_JOINT3:LARM_JOINT5 RARM_JOINT6:RLEG_JOINT2 RARM_JOINT5:LLEG_JOINT3 RARM_JOINT3:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT3 RARM_JOINT6:LLEG_JOINT2 LARM_JOINT5:RLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT3 LARM_JOINT4:LLEG_JOINT4 LARM_JOINT4:RLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT4 LARM_JOINT3:LLEG_JOINT5 LARM_JOINT5:LLEG_JOINT3 LARM_JOINT3:RLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT5 RARM_JOINT5:LARM_JOINT3 LARM_JOINT6:RLEG_JOINT2 LARM_JOINT6:LLEG_JOINT2 RARM_JOINT1:LARM_JOINT7 RARM_JOINT7:LARM_JOINT1 RARM_JOINT5:RLEG_JOINT2 LARM_JOINT5:LLEG_JOINT2 RARM_JOINT4:LLEG_JOINT3 LARM_JOINT5:RLEG_JOINT2 LARM_JOINT4:LLEG_JOINT3 LARM_JOINT4:RLEG_JOINT3 LARM_JOINT3:LLEG_JOINT4 LARM_JOINT3:RLEG_JOINT4 LARM_JOINT2:LLEG_JOINT5 LARM_JOINT2:RLEG_JOINT5 RARM_JOINT5:LLEG_JOINT2 LARM_JOINT7:RLEG_JOINT0 RARM_JOINT7:LLEG_JOINT0 RARM_JOINT7:RLEG_JOINT0 RARM_JOINT2:RLEG_JOINT5 RARM_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT4 RARM_JOINT3:RLEG_JOINT4 LARM_JOINT7:LLEG_JOINT0 RARM_JOINT3:LLEG_JOINT4 RLEG_JOINT4:LLEG_JOINT3 RARM_JOINT4:RLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT2 RARM_JOINT1:LLEG_JOINT5 WAIST:RARM_JOINT7 RLEG_JOINT1:LLEG_JOINT5 RARM_JOINT1:RLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT4 LARM_JOINT1:RLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT1 LARM_JOINT6:LLEG_JOINT0 LARM_JOINT1:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT3 LARM_JOINT4:LLEG_JOINT2 WAIST:LARM_JOINT7 RARM_JOINT4:LLEG_JOINT2 LARM_JOINT4:RLEG_JOINT2 LARM_JOINT3:RLEG_JOINT3 RLEG_JOINT4:LLEG_JOINT2 LARM_JOINT3:LLEG_JOINT3 RARM_JOINT6:RLEG_JOINT0 RARM_JOINT4:RLEG_JOINT2 RARM_JOINT3:RLEG_JOINT3 RARM_JOINT2:RLEG_JOINT4 RARM_JOINT6:LLEG_JOINT0 RARM_JOINT3:LLEG_JOINT3 RARM_JOINT0:RARM_JOINT7 LARM_JOINT2:RLEG_JOINT3 LARM_JOINT0:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT2 LARM_JOINT3:RLEG_JOINT2 RARM_JOINT0:RLEG_JOINT5 RARM_JOINT5:RLEG_JOINT0 LARM_JOINT3:LLEG_JOINT2 LARM_JOINT2:LLEG_JOINT3 RARM_JOINT3:RLEG_JOINT2 RARM_JOINT3:LLEG_JOINT2 RARM_JOINT5:LLEG_JOINT0 RLEG_JOINT4:LLEG_JOINT1 RLEG_JOINT0:LLEG_JOINT5 WAIST:RARM_JOINT6 LARM_JOINT5:RLEG_JOINT0 RARM_JOINT1:RLEG_JOINT4 WAIST:LARM_JOINT6 RLEG_JOINT2:LLEG_JOINT3 LARM_JOINT0:LARM_JOINT7 RARM_JOINT2:RLEG_JOINT3 LARM_JOINT5:LLEG_JOINT0 RLEG_JOINT5:LLEG_JOINT0 RARM_JOINT0:RARM_JOINT6 WAIST:RARM_JOINT5 WAIST:RLEG_JOINT5 WAIST:LARM_JOINT5 WAIST:LLEG_JOINT5 LARM_JOINT4:LLEG_JOINT0 RARM_JOINT4:RLEG_JOINT0 RLEG_JOINT0:LLEG_JOINT4 RLEG_JOINT1:LLEG_JOINT3 RARM_JOINT1:RLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT2 LARM_JOINT0:LARM_JOINT6 RARM_JOINT1:RARM_JOINT7 RLEG_JOINT4:LLEG_JOINT0 LARM_JOINT2:LLEG_JOINT2 LARM_JOINT2:RLEG_JOINT2 RARM_JOINT0:RLEG_JOINT4 LARM_JOINT1:LLEG_JOINT3 LARM_JOINT1:RLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT1 LARM_JOINT1:LARM_JOINT7 RLEG_JOINT2:LLEG_JOINT1 RLEG_JOINT1:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT0 RLEG_JOINT0:LLEG_JOINT3 RLEG_JOINT0:RLEG_JOINT5 LLEG_JOINT0:LLEG_JOINT5 RARM_JOINT0:RLEG_JOINT3 WAIST:LLEG_JOINT4 LARM_JOINT0:LARM_JOINT5 RARM_JOINT3:RLEG_JOINT0 RARM_JOINT0:RARM_JOINT5 LARM_JOINT3:LLEG_JOINT0 RARM_JOINT0:LLEG_JOINT3 RARM_JOINT2:RARM_JOINT7 RARM_JOINT1:RARM_JOINT6 RARM_JOINT1:RLEG_JOINT2 LARM_JOINT1:LLEG_JOINT2 WAIST:RARM_JOINT4 LARM_JOINT2:LARM_JOINT7 LARM_JOINT0:RLEG_JOINT3 WAIST:LARM_JOINT4 LARM_JOINT1:RLEG_JOINT2 LARM_JOINT1:LARM_JOINT6 WAIST:RLEG_JOINT4 LARM_JOINT0:LLEG_JOINT3 WAIST:RLEG_JOINT3 RARM_JOINT0:RLEG_JOINT2 WAIST:LARM_JOINT3 RLEG_JOINT1:RLEG_JOINT5 RARM_JOINT1:RARM_JOINT5 WAIST:RARM_JOINT3 WAIST:LLEG_JOINT3 LARM_JOINT3:LARM_JOINT7 LARM_JOINT1:LARM_JOINT5 LARM_JOINT0:LLEG_JOINT2 LARM_JOINT0:RLEG_JOINT2 RARM_JOINT3:RARM_JOINT7 RLEG_JOINT0:LLEG_JOINT2 LLEG_JOINT1:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT0 WAIST:RARM_JOINT2 LLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT5 WAIST:LARM_JOINT2 --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.002 --timestep 0.002 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/c9351e04-ea4f-11e4-b0db-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/c9351e04-ea4f-11e4-b0db-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [27730]
IDL:omg.org/CORBA/TRANSIENT:1.0
Another rostest instance is currently running, waiting until it finished...
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.230s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27453.log
no process to kill
[ 50%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/STARO.dae
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27718.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ca4922ae-ea4f-11e4-bb67-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:55845/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ca4922ae-ea4f-11e4-bb67-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [27853]
[ WARN] [1429858914.598307867]: could not find collada joint kmodel1/jointsid1000!

ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ca4922ae-ea4f-11e4-bb67-605718ad098a
[ 58%] Built target staro_hrpsys_ros_bridge_tutorials_compile
[ 58%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
process[rosout-1]: started with pid [27935]
started core service [/rosout]
process[modelloader-2]: started with pid [27953]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [27962]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) CHEST_JOINT2(14) HEAD_JOINT0(15) HEAD_JOINT1(16) RARM_JOINT0(17) RARM_JOINT1(18) RARM_JOINT2(19) RARM_JOINT3(20) RARM_JOINT4(21) RARM_JOINT5(22) RARM_JOINT6(23) RARM_JOINT7(24) LARM_JOINT0(25) LARM_JOINT1(26) LARM_JOINT2(27) LARM_JOINT3(28) LARM_JOINT4(29) LARM_JOINT5(30) LARM_JOINT6(31) LARM_JOINT7(32)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/ca4922ae-ea4f-11e4-bb67-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[ WARN] [1429858915.883574626]: could not find collada joint kmodel1/jointsid1000!

[rosout-1] killing on exit
Scanning dependencies of target urataleg_hrpsys_ros_bridge_tutorials_compile
[ 65%] Built target urataleg_hrpsys_ros_bridge_tutorials_compile
Scanning dependencies of target all_robots_model_generate
[ 65%] Built target all_robots_model_generate
Scanning dependencies of target hrp2jsk_hrpsys_ros_bridge_tutorials_compile2
[ 65%] Generating hrp2jsk_joint_minmax_done
Xserver connection failed[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.823s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27718.log
[ 65%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2963
Fri Apr 24 16:01:56 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000930b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000064ea395501006dc3
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27269.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cbc72fd6-ea4f-11e4-a4cc-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:47035/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cbc72fd6-ea4f-11e4-a4cc-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [28144]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to cbc72fd6-ea4f-11e4-a4cc-605718ad098a
process[rosout-1]: started with pid [28203]
started core service [/rosout]
process[modelloader-2]: started with pid [28219]
[ROSTEST]running test projectgenerator
IDL:omg.org/CORBA/TRANSIENT:1.0
omniNames properly started
process[projectgenerator-3]: started with pid [28235]
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/cbc72fd6-ea4f-11e4-a4cc-605718ad098a/modelloader-2*.log
respawning...
[modelloader-2] restarting process
process[modelloader-2]: started with pid [28236]
IDL:omg.org/CORBA/TRANSIENT:1.0
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Another rostest instance is currently running, waiting until it finished...
[modelloader-2] process has finished cleanly
log file: /home/takasugi/.ros/log/cbc72fd6-ea4f-11e4-a4cc-605718ad098a/modelloader-2*.log
respawning...
[projectgenerator-3] process has died [pid 28235, exit code -6, cmd /opt/ros/hydro/lib/hrpsys/ProjectGenerator -o corba.nameservers:localhost:2962 /home/takasugi/prog/euslib/rbrain/jaxon/JAXONmain.wrl /opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0 --integrate true --output /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.xml --conf-file-option abc_leg_offset: 0.0, 0.1, 0.0 --conf-file-option end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, rarm,RARM_JOINT7,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT7,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708, --conf-file-option collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT7 RARM_JOINT2:LARM_JOINT7 RARM_JOINT3:LARM_JOINT7 RARM_JOINT4:LARM_JOINT7 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT7 LARM_JOINT7:WAIST RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT5:RARM_JOINT7 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT5:RARM_JOINT7 CHEST_JOINT1:RARM_JOINT7 HEAD_JOINT1:RARM_JOINT7 RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:RARM_JOINT7 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT7 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2 --conf-file-option collision_model: convex hull --robothardware-conf-file-option pdgains.file_name: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/PDgains.sav --dt 0.002 --timestep 0.002 --joint-properties RARM_JOINT2.angle,-0.191986,LARM_JOINT2.angle,0.191986 --gtest_output=xml:/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/test_results/hrpsys_tools/rosunit-projectgenerator.xml --text __name:=projectgenerator __log:=/home/takasugi/.ros/log/cbc72fd6-ea4f-11e4-a4cc-605718ad098a/projectgenerator-3.log].
log file: /home/takasugi/.ros/log/cbc72fd6-ea4f-11e4-a4cc-605718ad098a/projectgenerator-3*.log
[modelloader-2] restarting process
process[modelloader-2]: started with pid [28265]
IDL:omg.org/CORBA/TRANSIENT:1.0
      0/  34225[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
  11100/  34225[master] killing on exit
  27750/  34225... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.241s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-27269.log
  31450/  34225no process to kill
  33300/  34225Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/jaxon.l
   5550/  34225... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28232.log
   9250/  34225Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor lhsensor is attached to LARM_LINK7 base_force6d #sensor4 3
Sensor rhsensor is attached to RARM_LINK7 base_force6d #sensor5 2
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor6 1
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
  25900/  34225[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cd1bbd98-ea4f-11e4-8422-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:42427/
ros_comm version 1.10.12
SUMMARY
========
PARAMETERS
 * /rosdistro
 * /rosversion
NODES
  /
    modelloader (openhrp3/openhrp-model-loader)
[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cd1bbd98-ea4f-11e4-8422-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [28437]
  31450/  34225[ 65%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2962

Fri Apr 24 16:01:59 2015:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000920b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000067ea395501006f4b
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to cd1bbd98-ea4f-11e4-8422-605718ad098a
  33300/  34225
    560/   9408process[rosout-1]: started with pid [28531]
started core service [/rosout]
   5040/   9408process[modelloader-2]: started with pid [28563]
[ROSTEST]running test projectgenerator
   8960/   9408;
      0/   9408process[projectgenerator-3]: started with pid [28592]
    560/   9408Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint link1(0) link2(1) link3(2) link4(3) link5(4) link6(5) link7(6) link8(7) link9(8)
   2800/   9408[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/cd1bbd98-ea4f-11e4-8422-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
   5600/   9408[modelloader-2] killing on exit
[rosout-1] killing on exit
   8960/   9408;
   5320/   5776;
   1820/   6006[master] killing on exit
   5460/   6006;
[ 65%] Generating hrp2jsk_joint_minmax_conf_done
Xserver connection failed... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.133s

OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28232.log
[ 65%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_meshes
omniNames properly started
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM.dae
[ERROR] [1429858920.509905443]: Target Node visual1/node_joint0_axis0 NOT found!!!
[ WARN] [1429858920.512466506]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[ WARN] [1429858920.514753621]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[ WARN] [1429858920.517742255]: could not find openrave joint WAIST!
[ 65%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/TESTMDOFARM_nosim.xml
Starting omniORB omniNames: takasugi-ThinkPad-T450:2963
Fri Apr 24 16:02:00 2015:
Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000d00000031302e3230382e312e3136360000930b0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100035454410800000068ea395501007071
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28748.log
testprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ce232e9c-ea4f-11e4-83bb-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:53110/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[ce232e9c-ea4f-11e4-83bb-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [28827]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to ce232e9c-ea4f-11e4-83bb-605718ad098a
process[rosout-1]: started with pid [28883]
started core service [/rosout]
process[modelloader-2]: started with pid [28899]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [28911]
[ 66%] Built target hrp2jsk_hrpsys_ros_bridge_tutorials_compile2
[ 66%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf, /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Adding gazebo description
;; Use assimp export
;; output file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.urdf
;; mesh_prefix is: package://hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Mesh output directory is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON_meshes
;; Input file is: /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/JAXON.dae
omniNames properly started
Another rostest instance is currently running, waiting until it finished...
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::FORCE rfsensor lfsensor rhsensor lhsensor
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint RLEG_JOINT0(0) RLEG_JOINT1(1) RLEG_JOINT2(2) RLEG_JOINT3(3) RLEG_JOINT4(4) RLEG_JOINT5(5) LLEG_JOINT0(6) LLEG_JOINT1(7) LLEG_JOINT2(8) LLEG_JOINT3(9) LLEG_JOINT4(10) LLEG_JOINT5(11) CHEST_JOINT0(12) CHEST_JOINT1(13) CHEST_JOINT2(14) HEAD_JOINT0(15) HEAD_JOINT1(16) RARM_JOINT0(17) RARM_JOINT1(18) RARM_JOINT2(19) RARM_JOINT3(20) RARM_JOINT4(21) RARM_JOINT5(22) RARM_JOINT6(23) RARM_JOINT7(24) LARM_JOINT0(25) LARM_JOINT1(26) LARM_JOINT2(27) LARM_JOINT3(28) LARM_JOINT4(29) LARM_JOINT5(30) LARM_JOINT6(31) LARM_JOINT7(32)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/ce232e9c-ea4f-11e4-83bb-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
[ WARN] [1429858922.444261180]: could not find collada joint kmodel1/jointsid1000!

[master] killing on exit
... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok

----------------------------------------------------------------------
Ran 1 test in 1.721s

OK

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28748.log
Scanning dependencies of target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile2
[ 66%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
[ 73%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile
Scanning dependencies of target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile2
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
... logging to /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28950.log
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[ 73%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
[ 73%] Generating hrp2jsknt_joint_minmax_done
Xserver connection failedSensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[ 73%] Generating hrp2jsknts_joint_minmax_done
Xserver connection failedtestprojectgenerator (rostest.runner.RosTest) ... [ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cfac084c-ea4f-11e4-bb68-605718ad098a] starting
started roslaunch server http://takasugi-ThinkPad-T450:57801/
ros_comm version 1.10.12


SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    modelloader (openhrp3/openhrp-model-loader)

[ROSTEST]setup[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch] run_id[cfac084c-ea4f-11e4-bb68-605718ad098a] done
[ROSTEST]Running test [projectgenerator]
auto-starting new master
process[master]: started with pid [29148]
ROS_MASTER_URI=http://takasugi-ThinkPad-T450:22422/
setting /run_id to cfac084c-ea4f-11e4-bb68-605718ad098a
process[rosout-1]: started with pid [29207]
started core service [/rosout]
process[modelloader-2]: started with pid [29225]
[ROSTEST]running test projectgenerator
process[projectgenerator-3]: started with pid [29236]
Loading body customizer "/opt/ros/hydro/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
hrp::Sensor::GYRO gyrometer
hrp::Sensor::ACCELERATION gsensor
hrp::Joint link1(0) link2(1) link3(2) link4(3) link5(4) link6(5) link7(6) link8(7) link9(8)
[projectgenerator-3] process has finished cleanly
log file: /home/takasugi/.ros/log/cfac084c-ea4f-11e4-bb68-605718ad098a/projectgenerator-3*.log
[ROSTEST]test [projectgenerator] finished
[ROSTEST][ROSTEST] test [projectgenerator] done
[ROSTEST]tearDown[/opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch]
shutting down processing monitor...
[modelloader-2] killing on exit
[rosout-1] killing on exit
   3700/  34225[master] killing on exit
   9250/  34225... shutting down processing monitor complete
[ROSTEST]rostest teardown /opt/ros/hydro/share/hrpsys_tools/launch/_gen_project.launch complete
ok
----------------------------------------------------------------------
Ran 1 test in 1.430s
OK
WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /home/takasugi/.ros/log/rostest-takasugi-ThinkPad-T450-28950.log
  14800/  34225Unhandled exception in thread started by 
sys.excepthook is missing
lost sys.stderr
  16650/  34225[ 81%] Built target testmdofarm_hrpsys_ros_bridge_tutorials_compile
Scanning dependencies of target hrp2w_hrpsys_ros_bridge_tutorials_compile2
  14800/  34225Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2w.l
  25900/  34225Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor3 1
Sensor CAMERA_C is attached to HEAD_LINK1 base_pinhole_camera #sensor4 2
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 0
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 1
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor1 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor2 0
  33300/  34225;
      0/  34225[ 81%] Generating hrp2w_joint_minmax_done
   3700/  34225;server connection failed;
   9250/  34225;
  22200/  34225;
   8960/   9408;
   5320/   5776;
   3640/   6006;
   5040/   9408;
   6160/   9408Generating hrp2jsknt_joint_minmax_conf_done
   8960/   9408Xserver connection failed
  12950/  34225;
   5320/   5776;
   5460/   6006;
[ 82%] Generating hrp2jsknts_joint_minmax_conf_done
  33300/  34225;server connection failed;
   3700/  34225[ 83%] Built target hrp2jsknt_hrpsys_ros_bridge_tutorials_compile2
   5550/  34225Scanning dependencies of target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_all
[ 83%] Generating hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2959 for compile_openhrp_model
no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 83%] Built target hrp3hand_r_hrpsys_ros_bridge_tutorials_compile_all
Scanning dependencies of target hrp4r_hrpsys_ros_bridge_tutorials_compile_all
   7400/  34225Generating hrp4r_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2957 for compile_openhrp_model
no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 83%] Built target hrp4r_hrpsys_ros_bridge_tutorials_compile_all
Scanning dependencies of target jaxon_hrpsys_ros_bridge_tutorials_compile2
   9250/  34225[ 83%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2w.l
  25900/  34225Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor3 1
Sensor CAMERA_C is attached to HEAD_LINK1 base_pinhole_camera #sensor4 2
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 0
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 1
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor1 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor2 0
  29600/  34225[ 84%] Built target hrp2jsknts_hrpsys_ros_bridge_tutorials_compile2
Scanning dependencies of target pa10_hrpsys_ros_bridge_tutorials_compile_all
[ 84%] [ 85%] Generating pa10_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2951 for compile_openhrp_model
Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp4r.l
  31450/  34225no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 85%] Built target pa10_hrpsys_ros_bridge_tutorials_compile_all
Scanning dependencies of target samplerobot_hrpsys_ros_bridge_tutorials_compile_all
[ 85%] Generating samplerobot_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2952 for compile_openhrp_model
no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 85%] Built target samplerobot_hrpsys_ros_bridge_tutorials_compile_all
  33300/  34225Scanning dependencies of target staro_hrpsys_ros_bridge_tutorials_compile2
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp4r.l
;; error: cannot find method :crotch-r
;; error: cannot find method :crotch-r
;; error: cannot find method :crotch-y
   4550/   6006Sensor rfsensor is attached to R_ANKLE_R_LINK base_force6d #sensor3 0
Sensor lfsensor is attached to L_ANKLE_R_LINK base_force6d #sensor4 1
Sensor rfsensor is attached to R_ANKLE_R_LINK base_force6d #sensor3 0
Sensor lfsensor is attached to L_ANKLE_R_LINK base_force6d #sensor4 1
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
   5460/   6006
[ 85%] Generating hrp2w_joint_minmax_conf_done
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
Xserver connection failed[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_l.l
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/urataleg.l
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp3hand_r.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor3 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor4 1
Sensor gyrometer is attached to BODY base_imu #sensor1 0
Sensor gsensor is attached to BODY base_imu #sensor2 0
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/urataleg.l
[ 85%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor3 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor4 1
Sensor gyrometer is attached to BODY base_imu #sensor1 0
Sensor gsensor is attached to BODY base_imu #sensor2 0
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor rasensor is attached to RARM_LINK7 base_force6d #sensor4 2
Sensor lasensor is attached to LARM_LINK7 base_force6d #sensor5 3
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor6 1
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[ 86%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l
[ 86%] Generating staro_joint_minmax_done
Xserver connection failed[ 88%] Built target hrp2w_hrpsys_ros_bridge_tutorials_compile2
Scanning dependencies of target testmdofarm_hrpsys_ros_bridge_tutorials_compile_all
[ 88%] Generating testmdofarm_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2963 for compile_openhrp_model
no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 88%] Built target testmdofarm_hrpsys_ros_bridge_tutorials_compile_all
Scanning dependencies of target urataleg_hrpsys_ros_bridge_tutorials_compile_all
[ 89%] /opt/ros/hydro/share/euslisp/jskeus/eus/Linux64/bin/irteusgl: ERROR th=0 undefined function starostaro in (write-min-max-table-to-robot-model-file (staro) "/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/staro.l" :margin 1.0);; Segmentation Fault.
;; in (staro)
;; You are still in a signal handler.
;;Try reset or throw to upper level as soon as possible.
;; code=86643312 x=52a1140 addr=2000000000000000
signal=11 to thread 0, 
;; No, you cannot continue the previous evaluation.
make[2]: *** [staro_joint_minmax_done] Error 11
make[1]: *** [CMakeFiles/staro_hrpsys_ros_bridge_tutorials_compile2.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Generating urataleg_hrpsys_ros_bridge_tutorials_compile_cleanup
pkill -KILL -f omniNames -start 2960 for compile_openhrp_model
no process to kill
  PID TTY          TIME CMD
 1891 ?        00:00:00 omniNames
[ 89%] Built target urataleg_hrpsys_ros_bridge_tutorials_compile_all
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor rasensor is attached to RARM_LINK7 base_force6d #sensor4 2
Sensor lasensor is attached to LARM_LINK7 base_force6d #sensor5 3
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor6 1
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[ 89%] Generating /home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/jaxon.l
Sensor HEAD_LEFT_CAMERA is attached to HEAD_LINK1 base_pinhole_camera #sensor3 0
Sensor lhsensor is attached to LARM_LINK7 base_force6d #sensor4 3
Sensor rhsensor is attached to RARM_LINK7 base_force6d #sensor5 2
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor6 1
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor7 0
Sensor gsensor is attached to BODY base_imu #sensor1 0
Sensor gyrometer is attached to BODY base_imu #sensor2 0
[ 89%] Generating jaxon_joint_minmax_done
Xserver connection failed;; #<rotational-joint #X5aa6438 RARM_JOINT2> :joint-angle(0.0) violate max-angle(-15.8251)
;; #<rotational-joint #X59dab68 LARM_JOINT2> :joint-angle(0.0) violate min-angle(15.8251)
  23010/  24603;
;; #<rotational-joint #X5aa6438 RARM_JOINT2> :joint-angle(0.0) violate max-angle(-15.8251)
;; #<rotational-joint #X59dab68 LARM_JOINT2> :joint-angle(0.0) violate min-angle(15.8251)
  23010/  24603;
;; #<rotational-joint #X5aa6438 RARM_JOINT2> :joint-angle(0.0) violate max-angle(-15.8251)
;; #<rotational-joint #X59dab68 LARM_JOINT2> :joint-angle(0.0) violate min-angle(15.8251)
    920/   1012;
[ 90%] Generating jaxon_joint_minmax_conf_done
Xserver connection failed[ 91%] Built target jaxon_hrpsys_ros_bridge_tutorials_compile2
make[2]: *** Deleting file `/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml'
make[2]: *** [/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP4R.xml] Interrupt
make[1]: *** [CMakeFiles/hrp3hand_l_hrpsys_ros_bridge_tutorials_compile.dir/all] Interrupt
make: *** [all] Interrupt
[hrpsys_ros_bridge_tutorials] <== '/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '-2'

Failed   <== hrpsys_ros_bridge_tutorials [ 51 minutes and 36.0 seconds ]                                                                                                
[build] There were '1' errors:                                                                                                                                          

Failed to build package 'hrpsys_ros_bridge_tutorials' because the following command:

# Command to reproduce:
cd /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials && /home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

# Path to log:
cat /home/takasugi/ros/hydro/build/build_logs/hrpsys_ros_bridge_tutorials.log

Exited with return code: -2 

[build] Runtime: 51 minutes and 37.5 seconds 

@k-okada
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k-okada commented Apr 24, 2015

rtmros_common/cmake/compile_robot_mode..
はあたらしいですか.jskeusは1.0.6以上でなければirtrobot.lを更新してください.

◉ Kei Okada

On Fri, Apr 24, 2015 at 6:43 PM, Takasugi Noriaki [email protected]
wrote:

今日やり直したら50分経ってもビルドが終わりませんでした
takasugi:hrpsys_ros_bridge_tutorials(master●)$ catkin build --this

Profile: default
Extending: [cached] /opt/ros/hydro
Workspace: /home/takasugi/ros/hydro
Source Space: [exists] /home/takasugi/ros/hydro/src
Build Space: [exists] /home/takasugi/ros/hydro/build
Devel Space: [exists] /home/takasugi/ros/hydro/devel
Install Space: [missing] /home/takasugi/ros/hydro/install
DESTDIR: None

Isolate Develspaces: False
Install Packages: False
Isolate Installs: False

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True

Whitelisted Packages: None
Blacklisted Packages: None Workspace configuration appears valid.

Found '30' packages in 1.1 seconds.
Starting ==> hrp2_models

Finished <== hrp2_models [ 0.3 seconds ]

Starting ==> hrpsys_ros_bridge_tutorials

^C[build] User interrupted, stopping.

[hrpsys_ros_bridge_tutorials] ==>
'/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials/build_env.sh
/usr/bin/make --jobserver-fds=3,5 -j' in
'/home/takasugi/ros/hydro/build/hrpsys_ros_bridge_tutorials'
Scanning dependencies of target HRP2JSK_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSKNTS_xacro_model_generate
Scanning dependencies of target HRP2JSKNT_WH_SENSORS.urdf_generate
Scanning dependencies of target HRP2JSK_model_generate
[ 0%] [ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ 0%] [ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
Humanoid node
Humanoid node
Joint node BASE
Joint node BASE
Segment node BASE_LINK
Joint node J1
Segment node J1_LINK
Joint node J2
Segment node J2_LINK
Joint node J3
Segment node J3_LINK
Joint node J4
Segment node J4_LINK
Joint node J5
Segment node J5_LINK
Joint node J6
Segment node J6_LINK
Joint node J7
Segment node J7_LINK
Joint node HAND_L
Segment node HAND_L_LINK
Joint node HAND_R
Segment node HAND_R_LINK
Humanoid node
Humanoid node
Segment node BASE_LINK
Joint node BASE
Joint node J1
Segment node BASE_LINK
Joint node BASE
Segment node J1_LINK
Joint node J1
Joint node J2
Segment node J1_LINK
Joint node J2
Segment node J2_LINK
Segment node BASE_LINK
Segment node J2_LINK
Joint node J3
Joint node J3
Segment node J3_LINK
Joint node J4
Segment node J4_LINK
Joint node J1
Segment node J3_LINK
Joint node J5
Joint node J4
Segment node J5_LINK
Segment node J4_LINK
Joint node J5
Joint node J6
Segment node J5_LINK
Segment node J6_LINK
Segment node J1_LINK
Joint node J6
Joint node J7
Segment node J6_LINK
Joint node J7
Segment node J7_LINK
Segment node J7_LINK
Joint node HAND_L
Joint node HAND_L
Segment node HAND_L_LINK
Segment node HAND_L_LINK
Joint node J2
Joint node HAND_R
Joint node HAND_R
Segment node HAND_R_LINK
Segment node HAND_R_LINK
Segment node J2_LINK
Joint node J3
Segment node J3_LINK
Joint node J4
Segment node J4_LINK
Joint node J5
Segment node J5_LINK
Joint node J6
Segment node J6_LINK
Joint node J7
Segment node J7_LINK
Joint node HAND_L
Segment node HAND_L_LINK
Joint node HAND_R
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Segment node HAND_R_LINK
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/PA10/pa10.main.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.dae
[ 0%] [ 0%] [ 0%] [ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Humanoid node
Joint node WAIST
Segment node WAIST_LINK0
Joint node WAIST_P
Segment node WAIST_LINK1
Joint node WAIST_R
Segment node WAIST_LINK2
Joint node CHEST
AccelerationSensorgsensor
Gyrogyrometer
Segment node WAIST_LINK3
VisionSensorVISION_SENSOR1
VisionSensorVISION_SENSOR2
Joint node LARM_SHOULDER_P
Segment node LARM_LINK1
Joint node LARM_SHOULDER_R
Segment node LARM_LINK2
Joint node LARM_SHOULDER_Y
Segment node LARM_LINK3
Joint node LARM_ELBOW
Segment node LARM_LINK4
Joint node LARM_WRIST_Y
Segment node LARM_LINK5
Joint node LARM_WRIST_P
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_WRIST_R
Segment node LARM_LINK7
Joint node RARM_SHOULDER_P
Segment node RARM_LINK1
Joint node RARM_SHOULDER_R
Segment node RARM_LINK2
Joint node RARM_SHOULDER_Y
Segment node RARM_LINK3
Joint node RARM_ELBOW
Segment node RARM_LINK4
Joint node RARM_WRIST_Y
Segment node RARM_LINK5
Joint node RARM_WRIST_P
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_WRIST_R
Segment node RARM_LINK7
Joint node LLEG_HIP_R
Segment node LLEG_LINK1
Joint node LLEG_HIP_P
Segment node LLEG_LINK2
Joint node LLEG_HIP_Y
Segment node LLEG_LINK3
Joint node LLEG_KNEE
Segment node LLEG_LINK4
Humanoid node
Joint node LLEG_ANKLE_P
Joint node WAIST
Segment node LLEG_LINK5
Humanoid node
Segment node WAIST_LINK0
Joint node LLEG_ANKLE_R
Joint node WAIST_P
Segment node WAIST_LINK1
Joint node WAIST_R
Segment node LLEG_LINK6
Joint node WAIST
Segment node WAIST_LINK2
ForceSensorlfsensor
Segment node WAIST_LINK0
Joint node CHEST
Joint node WAIST_P
AccelerationSensorgsensor
Joint node RLEG_HIP_R
Gyrogyrometer
Segment node WAIST_LINK1
Segment node RLEG_LINK1
Joint node WAIST_R
Segment node WAIST_LINK3
Joint node RLEG_HIP_P
Segment node WAIST_LINK2
VisionSensorVISION_SENSOR1
Joint node CHEST
Segment node RLEG_LINK2
AccelerationSensorgsensor
Joint node RLEG_HIP_Y
VisionSensorVISION_SENSOR2
Gyrogyrometer
Segment node RLEG_LINK3
Segment node WAIST_LINK3
Joint node RLEG_KNEE
VisionSensorVISION_SENSOR1
Segment node RLEG_LINK4
Joint node LARM_SHOULDER_P
VisionSensorVISION_SENSOR2
Segment node LARM_LINK1
Joint node RLEG_ANKLE_P
Joint node LARM_SHOULDER_R
Joint node LARM_SHOULDER_P
Segment node LARM_LINK2
Joint node LARM_SHOULDER_Y
Segment node RLEG_LINK5
Segment node LARM_LINK1
Joint node RLEG_ANKLE_R
Segment node LARM_LINK3
Segment node RLEG_LINK6
Joint node LARM_SHOULDER_R
ForceSensorrfsensor
Joint node LARM_ELBOW
Segment node LARM_LINK2
Segment node LARM_LINK4
Joint node LARM_SHOULDER_Y
Joint node LARM_WRIST_Y
Segment node LARM_LINK5
Segment node LARM_LINK3
Joint node LARM_WRIST_P
Joint node LARM_ELBOW
Segment node LARM_LINK6
Segment node LARM_LINK4
Joint node LARM_WRIST_Y
ForceSensorlhsensor
Segment node LARM_LINK5
Joint node LARM_WRIST_P
Joint node LARM_WRIST_R
Segment node LARM_LINK6
Segment node LARM_LINK7
ForceSensorlhsensor
Joint node LARM_WRIST_R
Joint node RARM_SHOULDER_P
Segment node LARM_LINK7
Segment node RARM_LINK1
Joint node RARM_SHOULDER_R
Joint node RARM_SHOULDER_P
Segment node RARM_LINK1
Segment node RARM_LINK2
Joint node RARM_SHOULDER_R
Segment node RARM_LINK2
Joint node RARM_SHOULDER_Y
Joint node RARM_SHOULDER_Y
Segment node RARM_LINK3
Joint node RARM_ELBOW
Segment node RARM_LINK3
Segment node RARM_LINK4
Joint node RARM_WRIST_Y
Joint node RARM_ELBOW
Segment node RARM_LINK5
Joint node RARM_WRIST_P
Segment node RARM_LINK4
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_WRIST_Y
Joint node RARM_WRIST_R
Segment node RARM_LINK7
Segment node RARM_LINK5
Joint node LLEG_HIP_R
Joint node RARM_WRIST_P
Segment node LLEG_LINK1
Joint node LLEG_HIP_P
Segment node RARM_LINK6
Segment node LLEG_LINK2
ForceSensorrhsensor
Joint node LLEG_HIP_Y
Segment node LLEG_LINK3
Joint node RARM_WRIST_R
Joint node LLEG_KNEE
Segment node RARM_LINK7
Segment node LLEG_LINK4
Joint node LLEG_HIP_R
Joint node LLEG_ANKLE_P
Segment node LLEG_LINK5
Segment node LLEG_LINK1
Joint node LLEG_ANKLE_R
Segment node LLEG_LINK6
Joint node LLEG_HIP_P
ForceSensorlfsensor
Joint node RLEG_HIP_R
Segment node LLEG_LINK2
Segment node RLEG_LINK1
Joint node RLEG_HIP_P
Joint node LLEG_HIP_Y
Segment node RLEG_LINK2
Joint node RLEG_HIP_Y
Segment node LLEG_LINK3
Segment node RLEG_LINK3
Joint node RLEG_KNEE
Joint node LLEG_KNEE
Segment node RLEG_LINK4
Joint node RLEG_ANKLE_P
Segment node LLEG_LINK4
Segment node RLEG_LINK5
Joint node RLEG_ANKLE_R
Joint node LLEG_ANKLE_P
Segment node LLEG_LINK5
Segment node RLEG_LINK6
Joint node LLEG_ANKLE_R
Segment node LLEG_LINK6
ForceSensorrfsensor
ForceSensorlfsensor
Joint node RLEG_HIP_R
Segment node RLEG_LINK1
Joint node RLEG_HIP_P
Segment node RLEG_LINK2
Joint node RLEG_HIP_Y
Segment node RLEG_LINK3
Joint node RLEG_KNEE
Segment node RLEG_LINK4
Joint node RLEG_ANKLE_P
Segment node RLEG_LINK5
Joint node RLEG_ANKLE_R
Segment node RLEG_LINK6
ForceSensorrfsensor
Humanoid node
Joint node WAIST
Segment node WAIST_LINK0
Joint node WAIST_P
Segment node WAIST_LINK1
Joint node WAIST_R
Segment node WAIST_LINK2
Joint node CHEST
AccelerationSensorgsensor
Gyrogyrometer
Segment node WAIST_LINK3
VisionSensorVISION_SENSOR1
VisionSensorVISION_SENSOR2
Joint node LARM_SHOULDER_P
Segment node LARM_LINK1
Joint node LARM_SHOULDER_R
Segment node LARM_LINK2
Joint node LARM_SHOULDER_Y
Segment node LARM_LINK3
Joint node LARM_ELBOW
Segment node LARM_LINK4
Joint node LARM_WRIST_Y
Segment node LARM_LINK5
Joint node LARM_WRIST_P
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_WRIST_R
Segment node LARM_LINK7
Joint node RARM_SHOULDER_P
Segment node RARM_LINK1
Joint node RARM_SHOULDER_R
Segment node RARM_LINK2
Joint node RARM_SHOULDER_Y
Segment node RARM_LINK3
Joint node RARM_ELBOW
Segment node RARM_LINK4
Joint node RARM_WRIST_Y
Segment node RARM_LINK5
Joint node RARM_WRIST_P
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_WRIST_R
Segment node RARM_LINK7
Joint node LLEG_HIP_R
Segment node LLEG_LINK1
Joint node LLEG_HIP_P
Segment node LLEG_LINK2
Joint node LLEG_HIP_Y
Segment node LLEG_LINK3
Joint node LLEG_KNEE
Segment node LLEG_LINK4
Joint node LLEG_ANKLE_P
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Segment node LLEG_LINK5
Joint node LLEG_ANKLE_R
Segment node LLEG_LINK6
ForceSensorlfsensor
Joint node RLEG_HIP_R
Segment node RLEG_LINK1
Joint node RLEG_HIP_P
Segment node RLEG_LINK2
Joint node RLEG_HIP_Y
Segment node RLEG_LINK3
Joint node RLEG_KNEE
Segment node RLEG_LINK4
Joint node RLEG_ANKLE_P
Segment node RLEG_LINK5
Joint node RLEG_ANKLE_R
Segment node RLEG_LINK6
ForceSensorrfsensor
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Info: joint type free not supported
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
Collada Warning: shape index is not SP_MESH type, could result in
inaccuracies
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[ 0%] /opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
/opt/ros/hydro/bin/export-collada
/opt/ros/hydro/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl was
successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/SampleRobot.dae
[ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
[ 0%] [ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/pa10.l
[ 0%] [ 0%] [ 0%] [ 0%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
Humanoid node
Humanoid node
Humanoid node
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Humanoid node
Joint node RLEG_JOINT1
Joint node WAIST
Segment node RLEG_LINK1
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT2
Joint node RLEG_JOINT0
Joint node WAIST
Segment node RLEG_LINK0
Segment node RLEG_LINK2
Joint node RLEG_JOINT1
Segment node BODY
Segment node RLEG_LINK1
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Segment node BODY
Joint node RLEG_JOINT1
Joint node RLEG_JOINT3
Segment node RLEG_LINK1
Joint node RLEG_JOINT2
Joint node RLEG_JOINT2
Joint node RLEG_JOINT0
Segment node RLEG_LINK2
Segment node RLEG_LINK2
Segment node RLEG_LINK0
Joint node RLEG_JOINT3
Joint node RLEG_JOINT1
Segment node RLEG_LINK3
Segment node RLEG_LINK1
Joint node RLEG_JOINT3
Segment node RLEG_LINK3
Segment node RLEG_LINK3
Joint node RLEG_JOINT4
Joint node RLEG_JOINT4
Joint node RLEG_JOINT2
Joint node RLEG_JOINT4
Segment node RLEG_LINK2
Joint node RLEG_JOINT3
Segment node RLEG_LINK4
Segment node RLEG_LINK3
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Joint node RLEG_JOINT4
Segment node RLEG_LINK5
Joint node RLEG_JOINT5
Segment node RLEG_LINK4
Segment node RLEG_LINK5
Joint node RLEG_JOINT5
ForceSensorrfsensor
ForceSensorrfsensor
Segment node RLEG_LINK5
Joint node LLEG_JOINT0
Segment node RLEG_LINK5
Joint node LLEG_JOINT0
ForceSensorrfsensor
Segment node LLEG_LINK0
Joint node LLEG_JOINT0
Joint node LLEG_JOINT1
Segment node LLEG_LINK0
Segment node LLEG_LINK0
Segment node LLEG_LINK1
ForceSensorrfsensor
Joint node LLEG_JOINT2
Joint node LLEG_JOINT1
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Joint node LLEG_JOINT1
Segment node LLEG_LINK3
Segment node LLEG_LINK1
Joint node LLEG_JOINT4
Joint node LLEG_JOINT2
Joint node LLEG_JOINT0
Segment node LLEG_LINK4
Segment node LLEG_LINK1
Joint node LLEG_JOINT5
Segment node LLEG_LINK2
Segment node LLEG_LINK0
Joint node LLEG_JOINT3
Segment node LLEG_LINK5
Segment node LLEG_LINK3
Joint node LLEG_JOINT1
Joint node LLEG_JOINT4
Segment node LLEG_LINK1
Segment node LLEG_LINK4
Joint node LLEG_JOINT5
Joint node LLEG_JOINT2
Segment node LLEG_LINK5
ForceSensorlfsensor
Segment node LLEG_LINK2
Joint node LLEG_JOINT2
ForceSensorlfsensor
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Joint node LLEG_JOINT3
Segment node LLEG_LINK3
Joint node CHEST_JOINT0
Segment node LLEG_LINK3
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node LLEG_JOINT4
Joint node CHEST_JOINT1
Segment node CHEST_LINK0
Segment node CHEST_LINK1
Segment node LLEG_LINK4
AccelerationSensorgsensor
Joint node CHEST_JOINT1
Gyrogyrometer
Joint node LLEG_JOINT5
Joint node HEAD_JOINT0
Segment node CHEST_LINK1
Joint node LLEG_JOINT4
Segment node HEAD_LINK0
Segment node LLEG_LINK4
AccelerationSensorgsensor
Joint node HEAD_JOINT1
Segment node LLEG_LINK5
Joint node LLEG_JOINT5
Segment node HEAD_LINK1
Gyrogyrometer
ForceSensorlfsensor
VisionSensorCAMERA_R
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Segment node LLEG_LINK5
Joint node HEAD_JOINT1
VisionSensorCAMERA_L
ForceSensorlfsensor
Joint node CHEST_JOINT0
Joint node RARM_JOINT0
Joint node CHEST_JOINT0
Segment node RARM_LINK0
Segment node CHEST_LINK0
Segment node HEAD_LINK1
Joint node RARM_JOINT1
Segment node CHEST_LINK0
Segment node RARM_LINK1
Joint node CHEST_JOINT1
VisionSensorCAMERA_R
VisionSensorCAMERA_L
Segment node CHEST_LINK1
Joint node RARM_JOINT2
Joint node RARM_JOINT0
Joint node CHEST_JOINT1
Segment node RARM_LINK0
Segment node CHEST_LINK1
AccelerationSensorgsensor
AccelerationSensorgsensor
Segment node RARM_LINK2
Gyrogyrometer
Joint node RARM_JOINT1
Joint node RARM_JOINT3
Gyrogyrometer
Segment node RARM_LINK3
Segment node RARM_LINK1
Joint node HEAD_JOINT0
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Segment node HEAD_LINK0
Joint node HEAD_JOINT1
Joint node RARM_JOINT4
Joint node RARM_JOINT2
Segment node HEAD_LINK1
Segment node RARM_LINK2
VisionSensorCAMERA_R
Joint node HEAD_JOINT1
VisionSensorCAMERA_L
Segment node RARM_LINK4
Segment node HEAD_LINK1
Joint node RARM_JOINT3
VisionSensorCAMERA_R
Joint node RARM_JOINT5
Segment node RARM_LINK3
Segment node RARM_LINK5
Joint node RARM_JOINT0
VisionSensorCAMERA_L
Segment node RARM_LINK0
Joint node RARM_JOINT0
Joint node RARM_JOINT1
Joint node RARM_JOINT4
Joint node RARM_JOINT6
Segment node RARM_LINK1
Segment node RARM_LINK6
Segment node RARM_LINK4
ForceSensorrhsensor
Joint node RARM_JOINT2
Joint node RARM_JOINT7
Joint node RARM_JOINT5
Segment node RARM_LINK2
Segment node RARM_LINK0
Segment node RARM_LINK7
Joint node RARM_JOINT3
Joint node RARM_JOINT1
Segment node RARM_LINK3
Joint node LARM_JOINT0
Segment node RARM_LINK1
Segment node LARM_LINK0
Joint node RARM_JOINT2
Segment node RARM_LINK5
Joint node LARM_JOINT1
Joint node RARM_JOINT4
Joint node RARM_JOINT6
Segment node RARM_LINK4
Segment node RARM_LINK2
Joint node RARM_JOINT5
Joint node RARM_JOINT3
Segment node RARM_LINK5
Segment node LARM_LINK1
Segment node RARM_LINK6
Joint node LARM_JOINT2
ForceSensorrhsensor
Joint node RARM_JOINT6
Segment node LARM_LINK2
Segment node RARM_LINK3
Joint node LARM_JOINT3
Segment node RARM_LINK6
Segment node LARM_LINK3
Joint node RARM_JOINT4
Joint node RARM_JOINT7
Segment node RARM_LINK4
Segment node RARM_LINK7
ForceSensorrhsensor
Joint node LARM_JOINT4
Joint node LARM_JOINT0
Joint node RARM_JOINT7
Segment node LARM_LINK0
Segment node LARM_LINK4
Joint node RARM_JOINT5
Joint node LARM_JOINT1
Segment node LARM_LINK1
Segment node RARM_LINK7
Joint node LARM_JOINT2
Joint node LARM_JOINT5
Segment node RARM_LINK5
Segment node LARM_LINK5
Segment node LARM_LINK2
Joint node LARM_JOINT0
Joint node LARM_JOINT6
Joint node RARM_JOINT6
Segment node LARM_LINK6
Segment node LARM_LINK0
ForceSensorlhsensor
Segment node RARM_LINK6
Joint node LARM_JOINT1
Joint node LARM_JOINT3
Segment node LARM_LINK1
Joint node LARM_JOINT7
Segment node LARM_LINK3
ForceSensorrhsensor
Segment node LARM_LINK7
Joint node RARM_JOINT7
Joint node LARM_JOINT2
Joint node LARM_JOINT4
Segment node RARM_LINK7
Segment node LARM_LINK4
Joint node LARM_JOINT0
Joint node LARM_JOINT5
Segment node LARM_LINK0
Segment node LARM_LINK2
Joint node LARM_JOINT1
Joint node LARM_JOINT3
Segment node LARM_LINK1
Segment node LARM_LINK3
Joint node LARM_JOINT2
Segment node LARM_LINK5
Segment node LARM_LINK2
Joint node LARM_JOINT3
Joint node LARM_JOINT4
Joint node LARM_JOINT6
Segment node LARM_LINK4
Segment node LARM_LINK3
Joint node LARM_JOINT5
Segment node LARM_LINK5
Segment node LARM_LINK6
Joint node LARM_JOINT4
ForceSensorlhsensor
Joint node LARM_JOINT6
Joint node LARM_JOINT7
Segment node LARM_LINK6
Segment node LARM_LINK7
ForceSensorlhsensor
Segment node LARM_LINK4
Joint node LARM_JOINT5
Joint node LARM_JOINT7
Segment node LARM_LINK7
Segment node LARM_LINK5
Joint node LARM_JOINT6
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae
[ 1%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
[ 3%] [ 3%] [ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/samplerobot.l
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera
#sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera
#sensor4 1
lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera
#sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera
#sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera
#sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera
#sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor5 2
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 3
Sensor gsensor is attached to WAIST_LINK3 base_imu #sensor1 0
Sensor gyrometer is attached to WAIST_LINK3 base_imu #sensor2 0
Sensor VISION_SENSOR1 is attached to WAIST_LINK3 base_pinhole_camera
#sensor3 0
Sensor VISION_SENSOR2 is attached to WAIST_LINK3 base_pinhole_camera
#sensor4 1
Sensor lfsensor is attached to LLEG_LINK6 base_force6d #sensor7 0
Sensor rfsensor is attached to RLEG_LINK6 base_force6d #sensor8 1
[ 3%] [ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
[ 3%] [ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
Humanoid node
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Joint node RLEG_JOINT1
Segment node RLEG_LINK1
Joint node RLEG_JOINT2
Segment node RLEG_LINK2
Joint node RLEG_JOINT3
Segment node RLEG_LINK3
Joint node RLEG_JOINT4
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Segment node RLEG_LINK5
ForceSensorrfsensor
Joint node RLEG_JOINT6
Segment node RLEG_LINK6
Joint node LLEG_JOINT0
Segment node LLEG_LINK0
Joint node LLEG_JOINT1
Segment node LLEG_LINK1
Joint node LLEG_JOINT2
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Segment node LLEG_LINK3
Joint node LLEG_JOINT4
Segment node LLEG_LINK4
Joint node LLEG_JOINT5
Segment node LLEG_LINK5
ForceSensorlfsensor
Joint node LLEG_JOINT6
Segment node LLEG_LINK6
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node CHEST_JOINT1
Segment node CHEST_LINK1
AccelerationSensorgsensor
Gyrogyrometer
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Joint node HEAD_JOINT1
Segment node HEAD_LINK1
VisionSensorCARMINE
Joint node RARM_JOINT0
Segment node RARM_LINK0
Joint node RARM_JOINT1
Segment node RARM_LINK1
Joint node RARM_JOINT2
Segment node RARM_LINK2
Joint node RARM_JOINT3
Segment node RARM_LINK3
Joint node RARM_JOINT4
Segment node RARM_LINK4
Joint node RARM_JOINT5
Segment node RARM_LINK5
Joint node RARM_JOINT6
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_JOINT7
Segment node RARM_LINK7
Joint node LARM_JOINT0
Segment node LARM_LINK0
Joint node LARM_JOINT1
Segment node LARM_LINK1
Joint node LARM_JOINT2
Segment node LARM_LINK2
Joint node LARM_JOINT3
Segment node LARM_LINK3
Joint node LARM_JOINT4
Segment node LARM_LINK4
Joint node LARM_JOINT5
Segment node LARM_LINK5
Joint node LARM_JOINT6
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Humanoid node
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Joint node RLEG_JOINT1
Segment node RLEG_LINK1
Joint node RLEG_JOINT2
Segment node RLEG_LINK2
Joint node RLEG_JOINT3
Segment node RLEG_LINK3
Joint node RLEG_JOINT4
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Segment node RLEG_LINK5
ForceSensorrfsensor
Joint node RLEG_JOINT6
Segment node RLEG_LINK6
Joint node LLEG_JOINT0
Segment node LLEG_LINK0
Joint node LLEG_JOINT1
Segment node LLEG_LINK1
Joint node LLEG_JOINT2
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Segment node LLEG_LINK3
Joint node LLEG_JOINT4
Segment node LLEG_LINK4
Joint node LLEG_JOINT5
Segment node LLEG_LINK5
ForceSensorlfsensor
Joint node LLEG_JOINT6
Segment node LLEG_LINK6
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node CHEST_JOINT1
Segment node CHEST_LINK1
AccelerationSensorgsensor
Gyrogyrometer
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Joint node HEAD_JOINT1
Segment node HEAD_LINK1
VisionSensorCARMINE
Joint node RARM_JOINT0
Segment node RARM_LINK0
Joint node RARM_JOINT1
Segment node RARM_LINK1
Joint node RARM_JOINT2
Segment node RARM_LINK2
Joint node RARM_JOINT3
Segment node RARM_LINK3
Joint node RARM_JOINT4
Segment node RARM_LINK4
Joint node RARM_JOINT5
Segment node RARM_LINK5
Joint node RARM_JOINT6
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_JOINT7
Segment node RARM_LINK7
Joint node LARM_JOINT0
Segment node LARM_LINK0
Joint node LARM_JOINT1
Segment node LARM_LINK1
Joint node LARM_JOINT2
Segment node LARM_LINK2
Joint node LARM_JOINT3
Segment node LARM_LINK3
Joint node LARM_JOINT4
Segment node LARM_LINK4
Joint node LARM_JOINT5
Segment node LARM_LINK5
Joint node LARM_JOINT6
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Warning: Mass is zero. HRP2JSKNT RARM_JOINT7
Warning: Mass is zero. HRP2JSKNT LARM_JOINT7
Warning: Mass is zero. HRP2JSKNT RARM_JOINT7
Warning: Mass is zero. HRP2JSKNT LARM_JOINT7
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.dae
[ 3%] [ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsk.l
[ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf,
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
[ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf,
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CAMERA_R is attached to HEAD_LINK1 base_pinhole_camera #sensor5 1
Sensor CAMERA_L is attached to HEAD_LINK1 base_pinhole_camera #sensor6 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor7 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor8 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[ 3%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
;; Adding gazebo description;; Adding gazebo description

;; Use assimp export
;; output file is: ;; Use assimp export

/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf
;; mesh_prefix is: ;; output file is:
package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf
;; Mesh output directory is:
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes;;
mesh_prefix is:
package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
;; Mesh output directory is:
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes
;; Input file is:
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae;;
Input file is:
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK.dae

Humanoid node
Humanoid node
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Joint node RLEG_JOINT1
Segment node RLEG_LINK1
Joint node RLEG_JOINT2
Segment node RLEG_LINK2
Joint node RLEG_JOINT3
Segment node RLEG_LINK3
Joint node RLEG_JOINT4
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Segment node RLEG_LINK5
ForceSensorrfsensor
Joint node RLEG_JOINT6
Segment node RLEG_LINK6
Joint node LLEG_JOINT0
Segment node LLEG_LINK0
Joint node LLEG_JOINT1
Segment node LLEG_LINK1
Joint node LLEG_JOINT2
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Segment node LLEG_LINK3
Joint node LLEG_JOINT4
Segment node LLEG_LINK4
Joint node LLEG_JOINT5
Segment node LLEG_LINK5
ForceSensorlfsensor
Joint node LLEG_JOINT6
Segment node LLEG_LINK6
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node CHEST_JOINT1
Segment node CHEST_LINK1
AccelerationSensorgsensor
Gyrogyrometer
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Joint node HEAD_JOINT1
Segment node HEAD_LINK1
VisionSensorCARMINE
Joint node RARM_JOINT0
Segment node RARM_LINK0
Joint node RARM_JOINT1
Segment node RARM_LINK1
Joint node RARM_JOINT2
Segment node RARM_LINK2
Joint node RARM_JOINT3
Segment node RARM_LINK3
Joint node RARM_JOINT4
Segment node RARM_LINK4
Joint node RARM_JOINT5
Segment node RARM_LINK5
Joint node RARM_JOINT6
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_JOINT7
Segment node RARM_LINK7
Joint node LARM_JOINT0
Segment node LARM_LINK0
Joint node LARM_JOINT1
Segment node LARM_LINK1
Joint node LARM_JOINT2
Segment node LARM_LINK2
Joint node LARM_JOINT3
Segment node LARM_LINK3
Joint node LARM_JOINT4
Segment node LARM_LINK4
Joint node LARM_JOINT5
Segment node LARM_LINK5
Joint node LARM_JOINT6
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Joint node WAIST
Segment node BODY
Joint node RLEG_JOINT0
Segment node RLEG_LINK0
Joint node RLEG_JOINT1
Segment node RLEG_LINK1
Joint node RLEG_JOINT2
Segment node RLEG_LINK2
Joint node RLEG_JOINT3
Segment node RLEG_LINK3
Joint node RLEG_JOINT4
Segment node RLEG_LINK4
Joint node RLEG_JOINT5
Segment node RLEG_LINK5
ForceSensorrfsensor
Joint node RLEG_JOINT6
Segment node RLEG_LINK6
Joint node LLEG_JOINT0
Segment node LLEG_LINK0
Joint node LLEG_JOINT1
Segment node LLEG_LINK1
Joint node LLEG_JOINT2
Segment node LLEG_LINK2
Joint node LLEG_JOINT3
Segment node LLEG_LINK3
Joint node LLEG_JOINT4
Segment node LLEG_LINK4
Joint node LLEG_JOINT5
Segment node LLEG_LINK5
ForceSensorlfsensor
Joint node LLEG_JOINT6
Segment node LLEG_LINK6
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node CHEST_JOINT1
Segment node CHEST_LINK1
AccelerationSensorgsensor
Gyrogyrometer
Joint node HEAD_JOINT0
Segment node HEAD_LINK0
Joint node HEAD_JOINT1
Segment node HEAD_LINK1
VisionSensorCARMINE
Joint node RARM_JOINT0
Segment node RARM_LINK0
Joint node RARM_JOINT1
Segment node RARM_LINK1
Joint node RARM_JOINT2
Segment node RARM_LINK2
Joint node RARM_JOINT3
Segment node RARM_LINK3
Joint node RARM_JOINT4
Segment node RARM_LINK4
Joint node RARM_JOINT5
Segment node RARM_LINK5
Joint node RARM_JOINT6
Segment node RARM_LINK6
ForceSensorrhsensor
Joint node RARM_JOINT7
Segment node RARM_LINK7
Joint node LARM_JOINT0
Segment node LARM_LINK0
Joint node LARM_JOINT1
Segment node LARM_LINK1
Joint node LARM_JOINT2
Segment node LARM_LINK2
Joint node LARM_JOINT3
Segment node LARM_LINK3
Joint node LARM_JOINT4
Segment node LARM_LINK4
Joint node LARM_JOINT5
Segment node LARM_LINK5
Joint node LARM_JOINT6
Segment node LARM_LINK6
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Warning: Mass is zero. HRP2JSKNTS RARM_JOINT7
Warning: Mass is zero. HRP2JSKNTS LARM_JOINT7
Warning: Mass is zero. HRP2JSKNTS RARM_JOINT7
Warning: Mass is zero. HRP2JSKNTS LARM_JOINT7
[ WARN] [1429858803.370172293]: could not find collada joint
kmodel1/jointsid1000!

[ WARN] [1429858803.379175728]: could not find collada joint
kmodel1/jointsid1000!
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
[ 3%] [ 4%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH.urdf
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSK_WH.urdf
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.dae
[ 4%] [ 5%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor gyrometer is attached to CHEST_LINK1 base_imu #sensor4 0
[ 5%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[ 5%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
Humanoid node
Joint node WAIST
Segment node BODY
Joint node CHEST_JOINT0
Segment node CHEST_LINK0
Joint node CHEST_JOINT1
Segment node CHEST_LINK1
Humanoid node
AccelerationSensorgsensor
Joint node WAIST
Gyrogyrometer
Joint node HEAD_JOINT0
Segment node BODY
Segment node HEAD_LINK0
Joint node CHEST_JOINT0
Joint node HEAD_JOINT1
Segment node HEAD_LINK1
Segment node CHEST_LINK0
VisionSensorCAMERA_R
Joint node CHEST_JOINT1
VisionSensorCAMERA_C
Segment node CHEST_LINK1
AccelerationSensorgsensor
VisionSensorCAMERA_L
Gyrogyrometer
Joint node RARM_JOINT0
Joint node HEAD_JOINT0
Segment node RARM_LINK0
Segment node HEAD_LINK0
Joint node RARM_JOINT1
Joint node HEAD_JOINT1
Segment node RARM_LINK1
Segment node HEAD_LINK1
Joint node RARM_JOINT2
VisionSensorCAMERA_R
VisionSensorCAMERA_C
Segment node RARM_LINK2
VisionSensorCAMERA_L
Joint node RARM_JOINT3
Joint node RARM_JOINT0
Segment node RARM_LINK3
Segment node RARM_LINK0
Joint node RARM_JOINT4
Joint node RARM_JOINT1
Segment node RARM_LINK4
Segment node RARM_LINK1
Joint node RARM_JOINT5
Joint node RARM_JOINT2
Segment node RARM_LINK5
Segment node RARM_LINK2
Joint node RARM_JOINT6
Joint node RARM_JOINT3
Segment node RARM_LINK6
Segment node RARM_LINK3
ForceSensorrhsensor
Joint node RARM_JOINT4
Segment node RARM_LINK4
Joint node RARM_JOINT7
Joint node RARM_JOINT5
Segment node RARM_LINK7
Segment node RARM_LINK5
Joint node RARM_JOINT6
Joint node LARM_JOINT0
Segment node RARM_LINK6
Segment node LARM_LINK0
ForceSensorrhsensor
Joint node LARM_JOINT1
Joint node RARM_JOINT7
Segment node RARM_LINK7
Segment node LARM_LINK1
Joint node LARM_JOINT0
Segment node LARM_LINK0
Joint node LARM_JOINT2
Joint node LARM_JOINT1
Segment node LARM_LINK2
Segment node LARM_LINK1
Joint node LARM_JOINT3
Joint node LARM_JOINT2
Segment node LARM_LINK3
Segment node LARM_LINK2
Joint node LARM_JOINT4
Joint node LARM_JOINT3
Segment node LARM_LINK4
Segment node LARM_LINK3
Joint node LARM_JOINT5
Joint node LARM_JOINT4
Segment node LARM_LINK5
Segment node LARM_LINK4
Joint node LARM_JOINT6
Joint node LARM_JOINT5
Segment node LARM_LINK6
Segment node LARM_LINK5
ForceSensorlhsensor
Joint node LARM_JOINT6
Joint node LARM_JOINT7
Segment node LARM_LINK6
Segment node LARM_LINK7
ForceSensorlhsensor
Joint node LARM_JOINT7
Segment node LARM_LINK7
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: init COLLADA writer version: 1.5.0, namespace:
http://www.collada.org/2008/03/COLLADASchema
Collada Info: joint type free not supported
Collada Info: joint type free not supported
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
/opt/ros/hydro/bin/export-collada
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/hrp2_models/HRP2W_for_OpenHRP3/HRP2Wmain.wrl
was successfully exported to
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/HRP2W.dae
[ 5%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
[ 5%] Generating
/home/takasugi/ros/hydro/src/rtm-ros-robotics/rtmros_tutorials/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l
Sensor rfsensor is attached to RLEG_LINK5 base_force6d #sensor1 0
Sensor lfsensor is attached to LLEG_LINK5 base_force6d #sensor2 1
Sensor CARMINE is attached to HEAD_LINK1 base_pinhole_camera #sensor5 0
Sensor rhsensor is attached to RARM_LINK6 base_force6d #sensor6 2
Sensor lhsensor is attached to LARM_LINK6 base_force6d #sensor7 3
Sensor gsensor is attached to CHEST_LINK1 base_imu #sensor3 0
Sensor

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