CORBA transient error when running the server about hpp-rbprm-corba HOT 19 CLOSED

Did you try https://github.com/Gepetto/gepetto-viewer-corba#corbatransient-when-launching-a-server already ?

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Running nameclt list gives me this:

Cannot resolve the root context.
Have you set up the configuration file properly?

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ok, is the omniNames process running ?

Either it is not started (and you can start it with omniNames -start), or its configuration is not clear (and you can fix that with export NameService=corbaname::localhost)

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Ok, now by following

ok, is the omniNames process running ?

Either it is not started (and you can start it with omniNames -start), or its configuration is not clear (and you can fix that with export NameService=corbaname::localhost)

omniNames is running, and I can run hbb-rbprm-server.

Then I run the following codes from darpa_hyq_path.py,

from hpp.corbaserver.rbprm.hyq_abstract import Robot

and get these errors:

omniORB: (0) 2019-09-19 16:01:07.669351: ERROR! omniORBpy version 4.2 expects stubs version 4.2. Stubs in /opt/openrobots/lib/python2.7/site-packages/hpp_stubs/corbaserver/obstacle_idl.pyc are version 3.0 (rev 0).
---------------------------------------------------------------------------
ImportError                               Traceback (most recent call last)
<ipython-input-1-204577a9b00a> in <module>()
----> 1 from hpp.corbaserver.rbprm.hyq_abstract import Robot

/opt/openrobots/lib/python2.7/site-packages/hpp/corbaserver/__init__.py in <module>()
----> 1 from .client import Client
      2 from .robot import Robot
      3 from .problem_solver import ProblemSolver, newProblem
      4 from .tools import loadServerPlugin, createContext
      5 from .benchmark import Benchmark

/opt/openrobots/lib/python2.7/site-packages/hpp/corbaserver/client.py in <module>()
      6 import CosNaming
      7 
----> 8 import hpp_idl.hpp.corbaserver
      9 
     10 class CorbaError(Exception):

/opt/openrobots/lib/python2.7/site-packages/hpp_idl/hpp/__init__.py in <module>()
      7 
      8 # ** 1. Stub files contributing to this module
----> 9 import hpp_stubs.corbaserver.obstacle_idl
     10 import hpp_stubs.corbaserver.problem_idl
     11 import hpp_stubs.corbaserver.robot_idl

/opt/openrobots/lib/python2.7/site-packages/hpp_stubs/corbaserver/obstacle_idl.py in <module>()
      5 _0_CORBA = CORBA
      6 
----> 7 _omnipy.checkVersion(3,0, __file__)
      8 
      9 # #include "hpp/common.idl"

ImportError: Stubs not compatible with omniORBpy version 4.2.

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Thanks, I'm starting to understand. Which OS are you using ?

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I'm using Ubuntu 16.04

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I think you have robotpkg-omniorbpy, and that you should remove it, to use the standard python-omniorb package from Ubuntu.

omniORBpy should be on version 3 on 16.04.

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I already uninstall robotpkg-omniorbpy, but I still have the same issue.

Do you mean to remove also robotpkg-omniorb?
Indeed, I did not have robotpkg-omniorb after following the installation procedure, so I install it myself by sudo apt-get install robotpkg-omniorb. Otherwise, calling omniNames results in:

bash: /opt/openrobots/bin/omniNames: No such file or directory

although I have python-omniorb installed (version (3.6-1))

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omniNames should be in omniorb-nameserver: /usr/bin/omniNames

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After removing robotpkg-omniorb, apparently I still have two versions of omniNames, in /usr/bin and /usr/local/bin. The problem persists, so I remove the one in /usr/local/bin. However, it seems that I am still running omniorb version 4.

I check /usr/lib and I have the following files:

libomniORB4.a
libomniORB4.so
libomniORB4.so.1
libomniORB4.so.1.6

How can I downgrade the running omniorbpy from 4.2 to 3.6? I already install 3.6 by sudo apt-get install python-omniorb and get:

python-omniorb is already the newest version (3.6-1).

But when I run the rb-prm program I still have the same error saying that my omniorbpy is version 4.2.

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Having omniorb-nameserver v4.1 & python-omniorb v3.6 is normal.

But if I start a clean 16.04, with robotpkg-hpp-rbprm-corba, python-omniorb, omniorb-nameserver, I can get the following:

In [1]: import _omnipy

In [2]: _omnipy.checkVersion(3,0, "/opt/openrobots/lib/python2.7/site-packages/hpp_stubs/corbaserver/obstacle_idl.py")

without error.

Can you try to see what gives python -c 'import _omnipy; print _omnipy.__file__' ?

For me, that's /usr/lib/python2.7/dist-packages/_omnipymodule.so, which is a correct path for python-omniorb

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You have to reinstall corba packages (hpp-corbaserver, hpp-rbprm-corba...) because the servers and clients must be regenerated.

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Running python -c 'import _omnipy; print _omnipy.__file__' gives me:
/usr/lib/python2.7/dist-packages/_omnipymodule.so
so I remove this file, and then running the above command now gives me the correct location:
/usr/lib/python2.7/dist-packages/_omnipymodule.so

After this I uninstall and reinstall hpp packages through robotpkg. Running

In [1]: import _omnipy

In [2]: _omnipy.checkVersion(3,0, "/opt/openrobots/lib/python2.7/site-packages/hpp_stubs/corbaserver/obstacle_idl.py")

returns without error, so it seems I have the correct version now.

However, running the codes

from hpp.corbaserver.rbprm.hyq_abstract import Robot

now gives me new error:

omniORB: Assertion failed.  This indicates a bug in the application
using omniORB, or maybe in omniORB itself.
 file: ../../modules/omnipy.cc
 line: 459
 info: omniPy::pyomniORBpoaCache
terminate called after throwing an instance of 'omniORB::fatalException'
Aborted (core dumped)

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Ok, at this point it might be useful to clean your install and start again…
You can try with sudo apt purge \*omni\* and then sudo apt install omniorb omniorb-nameserver python-omniorb python-omniorb-omg

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I did what you suggested: purging *omni* and *hpp*, and then reinstall. But the problem still appears:

omniORB: Assertion failed.  This indicates a bug in the application
using omniORB, or maybe in omniORB itself.
 file: ../../modules/omnipy.cc
 line: 459
 info: omniPy::pyomniORBpoaCache
terminate called after throwing an instance of 'omniORB::fatalException'
Aborted (core dumped)

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If I start a clean 16.04 with robotpkg apt repositories

sudo apt install omniorb omniorb-nameserver python-omniorb python-omniorb-omg robotpkg-hpp-rbprm-corba robotpkg-py27-qt4-hpp-gepetto-viewer

I can execute from hpp.corbaserver.rbprm.hyq_abstract import Robot without errors.

Without being able to reproduce your issue, it's hard to find a fix…

Then maybe you can try to reinstall ubuntu.

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Hi, I have just tried on a freshly installed ubuntu and the first line works, thank you!

Now the problem is with gepetto_gui, when I launch it I got this:
'''
"omniorbserver.so" : "The shared library was not found."
Plugin "omniorbserver.so" not loaded: "The shared library was not found."
'''
I have tried restarting the omniNames but the problem remains

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The file omniorbserver.so should be in /opt/openrobots/lib/gepetto-gui-plugins.

• If it is, then your LD_LIBRARY_PATH likely does not contain /opt/openrobots/lib
• If it is not, then you may not have installed it. It should have been installed by the command above. It is part of package robotpkg-py27-qt4-gepetto-viewer-corba

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Thank you @jmirabel , now the example is working!

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