When execute pr2' /tmp/irtmodel-ik faiuler file, I get error "error: unbound variable l_gripper_tool_frame" about jsk_roseus HOT 4 CLOSED

(send r l_gripper_tool_frame)

it seems forget to add : when writing *-failure.l code.
check if (send r :l_gripper_tool_frame) works and if so, check source code around https://github.com/euslisp/jskeus/blob/master/irteus/irtmodel.l#L2068

from jsk_roseus.

The error seems to be come from 2 reason.

1. the :name return value is invalid. l_gripper_tool_frame should be l_gripper_tool_frame_lk in pr2.l
2. As you said, the : is missing.

As for 1. , I attached the patch to pr2eus/pr2.l to add "_lk" to all ":name" value and it seems to be repair.
However , the file said that file shouldn't be edited and I am not sure that it would be no problem to change it or not...
@snozawa Is there any reason the:name value is remained to be without "_lk"?

As for 2., the variable print-args seems to have the wrong string and that is created around https://github.com/euslisp/jskeus/blob/master/irteus/irtmodel.l#L2048.
I edited all (send r ,(send x :name)) to (send r :,(send x :name)), but when I executed the motion which will fail(I run setup.l in jsk_2013_04_pr2_610/euslisp) the output failuer file wasn't changed.
So I mean, the (send r ,(send x :name)) was still (send r ,(send x :name)) after I edit irtmodel.l.
@k-okada Do I forget something to do to reflect my change?

from jsk_roseus.

@snozawa Is there any reason the:name value is remained to be without "_lk"?

I created this PR to use :link method for access and add test code:
euslisp/jskeus#101

I need to another PR to fix this problem completely.

from jsk_roseus.

I fixed dump of ik fail log.

• Dump links as loadable format like (send r :link link-name)[1]
• Fix move-target to use links included in (send r :links)[2]
  l_gripper_tool_frame is virtual link and not included in (send r :links).
  So, even if we dump the link as (send r :l_gripper_tool_frame), it returns nil and ik fail log does not work.
• Escape link and string to dump list and string properly (It would be better to use dump-lodable-structure??)
  (xxx) => (list xxx)
"aaa" => "\"aaa\""

I also add test codes to test/test-irt-motion.l through [1] and [2].

[1] euslisp/jskeus#101
[2] euslisp/jskeus#103

from jsk_roseus.