sr ROS interface

Shadow interface crashes after short while

Bug #872835 reported by ErikBerglund
6
This bug affects 1 person
Affects Status Importance Assigned to Milestone
sr ROS interface
Fix Committed
Undecided
Ugo

Bug Description

A short while after starting the shadow interface the /srh/ or /sr_arm interfaces stop publishing updates.

The time varies from under 20 seconds up to 10 minutes.

Once the bug appears, no more updates are published to:
/position/joint_states
/shadowhand_data
/target/joint_states

The bug appears equally likely to disable the /srh as the /sr_arm interfaces, sometimes both at the same time.

After the updates stop, sending commands to /sendupdate has no effect.

Full logs attached.

Revision history for this message
ErikBerglund (a-launchpad-snap-345-blog-no) wrote :
Revision history for this message
Ugo (ugocupcic) wrote :

Hi Erik, thanks for reporting the bug.
Can you tell me a bit more about it?
 - which version are you using?
 - which command do you use to start the interface?

Changed in sr-ros-interface:
assignee: nobody → Ugo (ugocupcic)
Revision history for this message
ErikBerglund (a-launchpad-snap-345-blog-no) wrote :

Version: Diamondback, bazaar revision 233.

I start gazebo and the interface like this (in separate consoles):
roslaunch sr_hand gazebo_arm_and_hand_motor.launch
roslaunch sr_hand sr_arm_motor.launch

Revision history for this message
Ugo (ugocupcic) wrote :

Same as bug 844934:

Gazebo crashes with this version on the trunk : http://answers.ros.org/question/2184/getting-my-custom-transmissions-to-work-in-gazebo

To solve this problem, you need to comment out publishMechanismstatistics() in pr2_controller_manager/src/controller_manager.cpp and recompile the pr2_controller_manager... I'm still waiting for an answer on why this is not working :S

Hope this helps.

Revision history for this message
ErikBerglund (a-launchpad-snap-345-blog-no) wrote :

Tried solution proposed in #4, but the problem persists.

Am I recompiling pr2_controller correctly?

I did this:
roscd pr2_controller_manager
sudo chmod o+w . -R
<edit src/controller_manager.cpp>
make
rosmake --rosdep-install pr2_controller_manager

Did I miss anything obvious?

Revision history for this message
ErikBerglund (a-launchpad-snap-345-blog-no) wrote :

This bug appears unrelated to bug 844934, as Gazebo starts and runs fine, but no status updates are published by the Shadow interface.

Revision history for this message
Ugo (ugocupcic) wrote :

Try:

GAZEBO=1 rosmake sr_hand sr_mechanism_model pr2_controller_manager gazebo

Revision history for this message
ErikBerglund (a-launchpad-snap-345-blog-no) wrote :

This bug has only been encountered in the manipulation branch.

By slowing down the amount of joint_data objects sent to the interface to about 8 per second the bug becomes rarer, but does not go away completely.

Revision history for this message
Ugo (ugocupcic) wrote :

Probably a bad mutex somewhere.

Changed in sr-ros-interface:
status: New → Confirmed
Ugo (ugocupcic)
Changed in sr-ros-interface:
status: Confirmed → Fix Committed
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