[rtmlaunch] Wait for /localhost:15005/HrpsysSeqStateROSBridge0.rtc:rsangle が出続ける(2019/05)

[ishiguroJSK]

最近何度か綺麗な環境構築しているとHrpsysSeqStateROSBridgeが起動時に落ちる現象に遭遇し，
いろいろapt消したりソースから入れたり，ガチャをしていると治ってしまっていましたが，なんとなく怪しい場所が絞れたので報告します．

こういう構成でrtmlaunch hrpsys_ros_bridge samplerobot.launchでもHrpsysSeqStateROSBridgeが落ちる

 rtmros_common   git master  (-)    0ac88687c3bb git@github.com:start-jsk/rtmros_common.git
 openhrp3        git master  (-)    53d561a28886 git@github.com:fkanehiro/openhrp3.git
 hrpsys          git master  (-)    5cbb5490f55c git@github.com:fkanehiro/hrpsys-base.git

aptの履歴なるものを見てみると，
↓/var/log/apt/history.log

Start-Date: 2019-05-25  20:14:01
Commandline: /usr/sbin/synaptic
Remove: ros-indigo-hrpsys-tools:amd64 (1.4.2-0trusty-20180517-084236-0800), openrtm-aist-dev:amd64 (1.1.2+20180505+1733+14~ubuntu14.04.1), ros-indigo-hironx-ros-bridge:amd64 (2.1.1-0trusty-20190220-162408-0800), ros-indigo-openrtm-ros-bridge:amd64 (1.4.2-0trusty-20171221-230211-0800), ros-indigo-openhrp3:amd64 (3.1.9-0trusty-20170313-050512-0700), ros-indigo-rtmbuild:amd64 (1.4.2-0trusty-20171221-223705-0800), libcnoid1:amd64 (1.6.0+dfsg+20180503+1250+23~ubuntu14.04.1), ros-indigo-hrpsys:amd64 (315.14.0-0trusty-20180517-055136-0800), libcnoid-dev:amd64 (1.6.0+dfsg+20180503+1250+23~ubuntu14.04.1), ros-indigo-hrpsys-gazebo-general:amd64 (0.1.12-0trusty-20190204-154450-0800), ros-indigo-openrtm-tools:amd64 (1.4.2-0trusty-20171221-223742-0800), ros-indigo-hrpsys-ros-bridge:amd64 (1.4.2-0trusty-20190204-152108-0800), ros-indigo-nextage-ros-bridge:amd64 (0.7.16-4trusty-20190220-165823-0800)
Purge: ros-indigo-openrtm-aist:amd64 (1.1.0-26trusty-20170313-035634-0700), ros-indigo-rtshell:amd64 (3.0.1-2trusty-20160321-180557-0700), ros-indigo-openrtm-aist-python:amd64 (1.1.0-7trusty-20160914-101450-0700), ros-indigo-rtctree:amd64 (3.0.1-0trusty-20160321-180014-0700), openrtm-aist:amd64 (1.1.2+20180505+1733+14~ubuntu14.04.1)
End-Date: 2019-05-25  20:14:17

Start-Date: 2019-05-25  20:16:37
Commandline: /usr/sbin/synaptic
Purge: ros-indigo-hrpsys-gazebo-msgs:amd64 (0.1.12-0trusty-20180516-224556-0800)
End-Date: 2019-05-25  20:16:39

※↑ここまでで色々消した

Start-Date: 2019-05-25  20:17:23
Commandline: apt-get install -y ros-indigo-rtshell
Install: ros-indigo-rtshell:amd64 (3.0.1-2trusty-20160321-180557-0700), ros-indigo-rtctree:amd64 (3.0.1-0trusty-20160321-180014-0700, automatic)
End-Date: 2019-05-25  20:17:27

Start-Date: 2019-05-25  20:17:30
Commandline: apt-get install -y ros-indigo-openrtm-aist
Install: ros-indigo-openrtm-aist:amd64 (1.1.0-26trusty-20170313-035634-0700)
End-Date: 2019-05-25  20:17:35

Start-Date: 2019-05-25  20:17:37
Commandline: apt-get install -y ros-indigo-openrtm-aist-python
Install: ros-indigo-openrtm-aist-python:amd64 (1.1.0-7trusty-20160914-101450-0700)
End-Date: 2019-05-25  20:17:40

※↑rosdep install -y -r --from-paths src --ignore-src した　→　動く

Start-Date: 2019-05-25  20:29:33
Commandline: /usr/sbin/synaptic
Install: ros-indigo-hrpsys-tools:amd64 (1.4.2-0trusty-20180517-084236-0800), ros-indigo-openhrp3:amd64 (3.1.9-0trusty-20170313-050512-0700, automatic), ros-indigo-hrpsys:amd64 (315.14.0-0trusty-20180517-055136-0800, automatic), ros-indigo-openrtm-tools:amd64 (1.4.2-0trusty-20171221-223742-0800, automatic)
End-Date: 2019-05-25  20:29:42

※↑ros-indigo-hrpsys-toolsとその依存が入った　→　動かない

Start-Date: 2019-05-25  20:33:15
Commandline: /usr/sbin/synaptic
Purge: ros-indigo-hrpsys-tools:amd64 (1.4.2-0trusty-20180517-084236-0800)
End-Date: 2019-05-25  20:33:18

※↑ros-indigo-hrpsys-tools消した　→　動かない

Start-Date: 2019-05-25  20:33:57
Commandline: /usr/sbin/synaptic
Purge: ros-indigo-hrpsys:amd64 (315.14.0-0trusty-20180517-055136-0800)
End-Date: 2019-05-25  20:34:00

※↑ros-indigo-hrpsys消した　→　動かない

Start-Date: 2019-05-25  20:34:51
Commandline: /usr/sbin/synaptic
Purge: ros-indigo-openhrp3:amd64 (3.1.9-0trusty-20170313-050512-0700)
End-Date: 2019-05-25  20:34:53

※↑ros-indigo-openhrp3消した　→　動く

Start-Date: 2019-05-25  20:35:45
Commandline: /usr/sbin/synaptic
Install: ros-indigo-openhrp3:amd64 (3.1.9-0trusty-20170313-050512-0700)
End-Date: 2019-05-25  20:35:49

※↑ros-indigo-openhrp3入れた　→　動かない

よく見るとopenhrp3のaptとソースが共存した状態だと，/optと/catkin_wsの混在した怪しめのメッセージが出ている

$ rtmlaunch hrpsys_ros_bridge samplerobot.launch 
（略）
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/opt/ros/indigo/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
cache found for file:///home/ishiguro/catkin_ws/debug/devel/share/openhrp3/share/OpenHRP-3.1/sample/model/sample1.wrl
duplicated sensor Id is specified(id = 2, name = lhsensor)
duplicated sensor Id is specified(id = 3, name = rhsensor)
duplicated sensor Id is specified(id = 0, name = gsensor)
duplicated sensor Id is specified(id = 0, name = gyrometer)
duplicated sensor Id is specified(id = 0, name = VISION_SENSOR1)
duplicated sensor Id is specified(id = 1, name = VISION_SENSOR2)
duplicated sensor Id is specified(id = 0, name = lfsensor)
duplicated sensor Id is specified(id = 1, name = rfsensor)
[ INFO] [1558784165.495651900]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
process[ForwardKinematicsServiceROSBridge-15]: started with pid [6641]
process[StateHolderServiceROSBridge-16]: started with pid [6674]
process[CollisionDetectorServiceROSBridge-17]: started with pid [6706]
process[collision_state-18]: started with pid [6742]
process[SoftErrorLimiterServiceROSBridge-19]: started with pid [6771]
process[robot_pose_ekf-20]: started with pid [6784]
process[base_footprint_rootlink-21]: started with pid [6796]
process[samplerobot_rviz-22]: started with pid [6809]
[sensor_ros_bridge_connect.py]  start
[rtm.py] configuration ORB with localhost:15005
[rtm.py] configuration RTCManager with localhost:2810
[sensor_ros_bridge_connect.py]  initSensorRosBridgeConnection
[sensor_ros_bridge_connect.py]  waitForRTCManagerAndRoboHardware has renamed to waitForRTCManagerAndRoboHardware: Please update your code
loading file:///home/ishiguro/catkin_ws/debug/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl
Humanoid node
Joint node WAIST
  Segment node BODY
The model was successfully loaded ! 
Loading body customizer "/home/ishiguro/catkin_ws/debug/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for 
Loading body customizer "/home/ishiguro/catkin_ws/debug/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
loading file:///home/ishiguro/catkin_ws/debug/devel/share/OpenHRP-3.1/idl/../sample/model/sample1.wrl

怪しい

[ishiguroJSK]

#1062 のお陰でこれについては解決した気がします．
openhrp3がaptとソース混在するときに，
Rosbridge系のRTCから呼ぶloadBodyFromModelLoader系の関数が明らかに/opt/rosの方を呼んでいてたのですが，
rtmbuild_add_executable(HrpsysSeqStateROSBridge src/HrpsysSeqStateROSBridgeImpl.cpp src/HrpsysSeqStateROSBridge.cpp src/HrpsysSeqStateROSBridgeComp.cpp)
などの部分で呼ばれるrtmbuildの中でパスの順序を変えれば治りました．

diff --git a/rtmbuild/cmake/rtmbuild.cmake b/rtmbuild/cmake/rtmbuild.cmake
index ab1f445..740413d 100644
--- a/rtmbuild/cmake/rtmbuild.cmake
+++ b/rtmbuild/cmake/rtmbuild.cmake
@@ -133,8 +133,8 @@ macro(rtmbuild_init)
     rosbuild_gensrv()
   endif()
 
-  include_directories(${catkin_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${openhrp3_INCLUDE_DIRS})
-  link_directories(${catkin_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${openhrp3_LIBRARY_DIRS})
+  include_directories( ${openhrp3_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+  link_directories(  ${openhrp3_LIBRARY_DIRS} ${openrtm_aist_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
 
 endmacro(rtmbuild_init)
 
@@ -289,7 +289,7 @@ macro(rtmbuild_add_executable exe)
     rosbuild_add_executable(${ARGV})
   endif()
   add_dependencies(${exe} RTMBUILD_${PROJECT_NAME}_genbridge ${${_package}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
-  target_link_libraries(${exe} ${catkin_LIBRARIES} ${openrtm_aist_LIBRARIES} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} )
+  target_link_libraries(${exe} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS} ${openrtm_aist_LIBRARIES} ${catkin_LIBRARIES}  )
 endmacro(rtmbuild_add_executable)
 
 macro(rtmbuild_add_library lib)
@@ -299,6 +299,6 @@ macro(rtmbuild_add_library lib)
   else()
     rosbuild_add_library(${ARGV})
   endif()
-  target_link_libraries(${lib} ${openrtm_aist_LIBRARIES} ${openhrp3_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS})
+  target_link_libraries(${lib}  ${openhrp3_LIBRARIES} ${openrtm_aist_LIBRARIES} ${${PROJECT_NAME}_IDLLIBRARY_DIRS})
 endmacro(rtmbuild_add_library)

ただ16.04だとまだ問題が残っていて，
rtmbuild_add_executable(ImageSensorROSBridge src/ImageSensorROSBridge.cpp src/ImageSensorROSBridgeComp.cpp)
に関してソースのhrpsysのincludeディレクトリが通っていないのか，aptのhrpsysが無いとhrp/idl/Img.hhがありませんとエラーが出る．
確かに直前にinclude_directories(${hrpsys_INCLUDE_DIRS})を入れると治る．
(なぜか14.04ではaptのhrpsysが無くても通っている)

@k-okada お時間あるときに，この治し方でいいのか確認お願いします