{"action":"created","issue":{"url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/227","labels_url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/227/labels{/name}","comments_url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/227/comments","events_url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/227/events","html_url":"https://github.com/tork-a/rtmros_nextage/issues/227","id":130542469,"number":227,"title":"Servo goes off at the end of checkEncoders","user":{"login":"130s","id":1840401,"avatar_url":"https://avatars.githubusercontent.com/u/1840401?v=3","gravatar_id":"","url":"https://api.github.com/users/130s","html_url":"https://github.com/130s","followers_url":"https://api.github.com/users/130s/followers","following_url":"https://api.github.com/users/130s/following{/other_user}","gists_url":"https://api.github.com/users/130s/gists{/gist_id}","starred_url":"https://api.github.com/users/130s/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/130s/subscriptions","organizations_url":"https://api.github.com/users/130s/orgs","repos_url":"https://api.github.com/users/130s/repos","events_url":"https://api.github.com/users/130s/events{/privacy}","received_events_url":"https://api.github.com/users/130s/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-02T01:45:34Z","updated_at":"2016-02-02T01:58:42Z","closed_at":null,"body":"After the 2nd \"bump\" motion at the end of `checkEncoders`, servo goes off and the green light at the chest starts blinking. Servo can be turned on by servoOn command from `NextageOpenSupervisor` (Kawada's proprietary tool).\r\n\r\nI'm familliar with this phonomenon but for now can't find a ticket. Will keep looking.\r\n\r\n```\r\n$ rosversion hironx_ros_bridge\r\n1.1.3\r\n```\r\n\r\nContent of `rtcd.log`.\r\n\r\n```\r\nhrpExecutionContext is registered\r\npdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav\r\ndof = 15\r\nopen_iob - NEXTAGE OPEN  I/F v1 instance at 0x80c1f70\r\n-- NEXTAGE::OpenV10::open_iob()\r\n-- NEXTAGE::OpenV10::open_iob - at 0x80ca078\r\n\r\n-- NEXTAGE::OpenV10::open_iob(): succeeded, lockower is -1\r\nthe number of gyros = 0\r\nthe number of accelerometers = 0\r\nthe number of force sensors = 0\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\nSequencePlayer::onInitialize()\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\nStateHolder: dt = 0.005\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\nfk: onInitialize()\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\n;; Opening /dev/console for writing.\r\n;;\r\nel: onInitialize()\r\ndof = 15\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\nlog: onInitialize()\r\nopen_iob - NEXTAGE OPEN I/F instance is not NULL, ignored\r\n-- NEXTAGE::OpenV10::lock_iob()\r\nShMIF::lock()\r\nShmIF::lock(): IOB_OK owner: 675872, self: 675872\r\nperiod = 5[ms], priority = 49\r\n-- NEXTAGE::OpenV10::unlock_iob()\r\nShMIF::unlock()\r\nShmIF::unlock(): IOB_OK owner: -1, self: 675872\r\n-- NEXTAGE::OpenV10::unlock_iob()\r\nShMIF::unlock()\r\niob is unlocked by 675872\r\nShmIF::unlock(): IOB_OK owner: -1, self: 675872\r\n-- NEXTAGE::OpenV10::unlock_iob()\r\nShMIF::unlock()\r\niob is unlocked by 675872\r\nShmIF::unlock(): IOB_OK owner: -1, self: 675872\r\n-- NEXTAGE::OpenV10::unlock_iob()\r\nShMIF::unlock()\r\niob is unlocked by 675872\r\nShmIF::unlock(): IOB_OK owner: -1, self: 675872\r\n-- NEXTAGE::OpenV10::unlock_iob()\r\nShMIF::unlock()\r\niob is unlocked by 675872\r\nShmIF::unlock(): IOB_OK owner: -1, self: 675872\r\nSequencePlayer::onActivated(1000)\r\nfk: onActivated(1000)\r\nel: onActivated(1000)\r\nDataLogger: unsupported data type(TimedLongSeqSeq)\r\n[addJointGroup] group name TORSO is already installed\r\n[addJointGroup] group name HEAD is already installed\r\n[addJointGroup] group name RARM is already installed\r\n[addJointGroup] group name LARM is already installed\r\nreadActualAngle:0=-0.0736311\r\nreadActualAngle:1=3.06796e-05\r\nreadActualAngle:2=0\r\nreadActualAngle:3=0.263841\r\nreadActualAngle:4=-0.0613508\r\nreadActualAngle:5=-0.901969\r\nreadActualAngle:6=0.355878\r\nreadActualAngle:7=0.0368155\r\nreadActualAngle:8=-0.40496\r\nreadActualAngle:9=0.362016\r\nreadActualAngle:10=-0.0245418\r\nreadActualAngle:11=-0.742437\r\nreadActualAngle:12=-0.282241\r\nreadActualAngle:13=-0.515418\r\nreadActualAngle:14=-0.245437\r\nwriteCommandAngle:0=-0.0736311\r\nwriteCommandAngle:1=3.06796e-05\r\nwriteCommandAngle:2=0\r\nwriteCommandAngle:3=0.263841\r\nwriteCommandAngle:4=-0.0613508\r\nwriteCommandAngle:5=-0.901969\r\nwriteCommandAngle:6=0.355878\r\nwriteCommandAngle:7=0.0368155\r\nwriteCommandAngle:8=-0.40496\r\nwriteCommandAngle:9=0.362016\r\nwriteCommandAngle:10=-0.0245418\r\nwriteCommandAngle:11=-0.742437\r\nwriteCommandAngle:12=-0.282241\r\nwriteCommandAngle:13=-0.515418\r\nwriteCommandAngle:14=-0.245437\r\ndoCalibration_startC:0\r\ndoCalibration_startC:1\r\ndoCalibration_startC:2\r\ndoCalibration_startC:3\r\ndoCalibration_startC:4\r\ndoCalibration_startC:5\r\ndoCalibration_startC:6\r\ndoCalibration_startC:7\r\ndoCalibration_startC:8\r\ndoCalibration_startC:9\r\ndoCalibration_startC:10\r\ndoCalibration_startC:11\r\ndoCalibration_startC:12\r\ndoCalibration_startC:13\r\ndoCalibration_startC:14\r\nstageCalibration_finishedS .............. done.\r\nloop 1\r\n1:stageCalibration[0] = 2\r\n1:stageCalibration[1] = 2\r\n1:stageCalibration[2] = 2\r\n1:stageCalibration[3] = 2\r\n1:stageCalibration[4] = 2\r\n1:stageCalibration[5] = 2\r\n1:stageCalibration[6] = 2\r\n1:stageCalibration[7] = 2\r\n1:stageCalibration[8] = 2\r\n1:stageCalibration[9] = 2\r\n1:stageCalibration[10] = 2\r\n1:stageCalibration[11] = 2\r\n1:stageCalibration[12] = 2\r\n1:stageCalibration[13] = 2\r\n1:stageCalibration[14] = 2\r\ndoCalibration[0] = 255\r\ndoCalibration[1] = 255\r\ndoCalibration[2] = 255\r\ndoCalibration[3] = 255\r\ndoCalibration[4] = 255\r\ndoCalibration[5] = 255\r\ndoCalibration[6] = 255\r\ndoCalibration[7] = 255\r\ndoCalibration[8] = 255\r\ndoCalibration[9] = 255\r\ndoCalibration[10] = 255\r\ndoCalibration[11] = 255\r\ndoCalibration[12] = 255\r\ndoCalibration[13] = 255\r\ndoCalibration[14] = 255\r\nloop 1\r\n2:stageCalibration[0] = 255\r\n2:stageCalibration[1] = 255\r\n2:stageCalibration[2] = 255\r\n2:stageCalibration[3] = 255\r\n2:stageCalibration[4] = 255\r\n2:stageCalibration[5] = 255\r\n2:stageCalibration[6] = 255\r\n2:stageCalibration[7] = 255\r\n2:stageCalibration[8] = 255\r\n2:stageCalibration[9] = 255\r\n2:stageCalibration[10] = 255\r\n2:stageCalibration[11] = 255\r\n2:stageCalibration[12] = 255\r\n2:stageCalibration[13] = 255\r\n2:stageCalibration[14] = 255\r\nreadServoState . done.\r\nTimeover: processing time = 13025.0[ms]\r\n13025.0,  0.0,  0.0,  0.0,  0.0,  0.0, \r\nStateHolder::goActual()\r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/comments/178309179","html_url":"https://github.com/tork-a/rtmros_nextage/issues/227#issuecomment-178309179","issue_url":"https://api.github.com/repos/tork-a/rtmros_nextage/issues/227","id":178309179,"user":{"login":"130s","id":1840401,"avatar_url":"https://avatars.githubusercontent.com/u/1840401?v=3","gravatar_id":"","url":"https://api.github.com/users/130s","html_url":"https://github.com/130s","followers_url":"https://api.github.com/users/130s/followers","following_url":"https://api.github.com/users/130s/following{/other_user}","gists_url":"https://api.github.com/users/130s/gists{/gist_id}","starred_url":"https://api.github.com/users/130s/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/130s/subscriptions","organizations_url":"https://api.github.com/users/130s/orgs","repos_url":"https://api.github.com/users/130s/repos","events_url":"https://api.github.com/users/130s/events{/privacy}","received_events_url":"https://api.github.com/users/130s/received_events","type":"User","site_admin":false},"created_at":"2016-02-02T01:58:42Z","updated_at":"2016-02-02T01:58:42Z","body":"On Ubuntu side, error message reads:\r\n\r\n> Turning servos ({}) failed. This is likely because of issues happening in lower level. Please check if the Kawada's proprietary tool NextageOpenSupervisor returns without issue or not. If the issue persists, contact the manufacturer\r\n\r\nThrough `NextageOpenSupervisor`, servoOn, `initPose`, `servoOff` work."}}