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2015-soft3

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knorth55 matsutake-mushroom jotaros chibi314 abekosuke hayato-t s-ktr haraduka tmsausa ban-masa teppei-kanayama yuchie yurikadoi s-yasunaga k-seta forest-s pazeshun shogomakino kiehoriuchi k-okada-github thagiwara osushi246810 kimhc6028 miyamoto-kohei naoya-mizuguchi szxnkl harukicho moriokatomoaki kosukearase ryoheinagao ttsoccer hideki-okada takka-919 trpknight sshige kenichi-fujita hagiwara-t yusukenakajime hisyatokaku yasu-k2 mizuguchi-naoya yasueshuta yutakuroda yasuakiiwasaki

2015-soft3's Issues

20151014の課題について

enshu_20151014というパッケージ名になっていますが、travis上ではbeginner_tutorialsという名前のパッケージでチェックを行おうとしているのでエラーが出ます。

20151014の練習問題1-3について

与えられたrenshu-1.lの中に

(assert (eq (X #'list 1 nil) '(1)) "mondai 3")

とあるのですが、CommonLispだとeq関数はメモリー番地まで同じものでないといけないと調べたら書いてありました。これはequal関数に変更してもいいでしょうか？

(assert (equal (X #'list 1 nil) '(1)) "mondai 3")

boardが表示されない 

board([]).
board([F | R]) :-
    (F =:= 1, write('OXXXX'),nl);
    (F =:= 2, write('XOXXX'),nl);
    (F =:= 3, write('XXOXX'),nl);
    (F =:= 4, write('XXXOX'),nl);
    (F =:= 5, write('XXXXO'),nl);
    board(R).


%?- board([1,2,3,4,5]).
%OXXXX
%true ;
%XOXXX
%true ;
%XXOXX
%true ;
%XXXOX
%true ;
%XXXXO
%true ;
%true.
%true shown everytime :(

CORBAのエラー

echo-serverを実行できません

mech-user@test1-pc:~/2015winter/2015-soft3/20151118/src/enshu_20151118$ ./echo-server -ORBInitRef NameService=corbaloc::iiop:127.0.0.1:2809/NameService

** (process:7429): WARNING **: Option ORBInitRef has invalid object reference: NameService=corbaloc::iiop:127.0.0.1:2809/NameService
Binding service reference from neme-service with id"EchoApp"

** (process:7429): ERROR **: failed binding of service IDL:omg.org/CORBA/INV_OBJREF:1.0
Trace/breakpoint trap (core dumped)
mech-user@test1-pc:~/2015winter/2015-soft3/20151118/src/enshu_20151118$ sudo /etc/init.d/omniorb4-nameserver restart
[sudo] password for mech-user:
sudo: /etc/init.d/omniorb4-nameserver: command not found

プリントのとおりにやってみようとしましたが
/var/lib/omniorbというディレクトリは存在せず、
/etc/init.dもないです

XML-RPCのエラー 

mech-user@test1-pc:~/2015winter/2015-soft3/20151118/src/enshu_20151118$ telnet xmlrpc-c.sourceforge.net 80
Trying 216.34.181.96...
Connected to xmlrpc-c.sourceforge.net.
Escape character is '^]'.
POST /api/sample.php  HTTP/1.0
User-Agent: Test/0.0
Host: xmlrpc-c.sourceforge.net
Content-Type: text/xml
Content-length: 130

<?xml version="1.0"?>
<methodCall>
    <methodName>system.listMethods</methodName>
    <params></params>
    </methodCall>
HTTP/1.1 503 Service Unavailable
Server: Varnish
Retry-After: 0
Content-Type: text/html; charset=utf-8
Content-Length: 418
Date: Sat, 12 Dec 2015 17:12:29 GMT
X-Varnish: 501920015
Age: 6
Via: 1.1 varnish
Connection: close


<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html>
  <head>
    <title>503 Service Unavailable</title>
  </head>
  <body>
    <h1>Error 503 Service Unavailable</h1>
    <p>Service Unavailable</p>
    <h3>Guru Meditation:</h3>
    <p>XID: 501920015</p>
    <hr>
    <p>Varnish cache server</p>
  </body>
</html>
Connection closed by foreign host.

カットアンドペイストではなく手打ちしてもだめです

20151014の課題について

travisのチェックで

/usr/bin/env: irteusgl: No such file or directory

というエラーが出るのですが、どうやって解決したら良いかわかりません。

試験日程について

試験日程は私は13日だと把握しているのですが、13日で間違っていないでしょうか？
それとも6日のまま変更はされていないのでしょうか？
情報が錯綜していて確認をさせてください。よろしくお願いします。

CORBAサンプルプログラム(java)のEchoServerとEchoClientがうまく動作しない。

エラーまでの手順を書きます。
まず、以下のように打ちました。

mech-user@test1-pc:~/lecture/soft2$ idlj -fall echo.idl

次に、

mech-user@test1-pc:~/lecture/soft2$ javac EchoServer.java EchoApp/*.java注:EchoApp/EchoPOA.java の操作は、未チェックまたは安全ではありません。 注:詳細については、-Xlint:unchecked オプションを指定して再コンパイルしてください。

としました。最後に、

mech-user@test1-pc:~/lecture/soft2$ java EchoServer -ORBInitRef NameService=corbaloc:iiop:127.0.0.1:2809/NameService ERROR: org.omg.CosNaming.NamingContextPackage.NotFound: IDL:omg.org/CosNaming/NamingContext/NotFound:1.0 org.omg.CosNaming.NamingContextPackage.NotFound: 2IDL:omg.org/CosNaming/NamingContext/NotFound:1.0 at org.omg.CosNaming.NamingContextPackage.NotFoundHelper.read(NotFoundHelper.java:72) at org.omg.CosNaming._NamingContextExtStub.rebind(_NamingContextExtStub.java:314) at EchoServer.main(EchoServer.java:47) EchoServer Exiting ... mech-user@test1-pc:~/lecture/soft2$

このようなエラーが出てしまいます。

C言語のCORBAサンプルプログラム(echo-clientとecho-server)を動かした後だとうまく動作しました。

apt-get install ros-indigo-catkin-tools でエラーが出ます

エラーメッセージ

k-okada@kokada-t440s:~/doc/lecture/soft3/2015$ sudo apt-get install ros-indigo-catkin-tools
[sudo] password for k-okada: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-indigo-catkin-tools

20151209の課題について

20151209のディレクトリはいつごろ追加されるのでしょうか。
なるべく早く追加していただけるとありがたいです。
それとも、僕達が自分で追加するべきなのでしょうか。
その場合、travisによる試験は大丈夫なのでしょうか。

roslaunchした後にCtrl-Cをすると、shutdown errorになってしまいます。

roslaunch test_cpp test_cpp.launch
とすると、以下のようなメッセージが出て、gazeboでのシミュレーションが出来ました。

mech-user@test1-pc:~$ roslaunch test_cpp test_cpp.launch
... logging to /home/mech-user/.ros/log/1df23faa-361a-11e6-9a35-e8b1fce8918a/roslaunch-test1-pc-3509.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://test1-pc:46910/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.19
 * /rrbot/joint1_position_controller/joint: joint1
 * /rrbot/joint1_position_controller/pid/d: 10.0
 * /rrbot/joint1_position_controller/pid/i: 0.01
 * /rrbot/joint1_position_controller/pid/p: 100.0
 * /rrbot/joint1_position_controller/type: effort_controller...
 * /rrbot/joint2_position_controller/joint: joint2
 * /rrbot/joint2_position_controller/pid/d: 10.0
 * /rrbot/joint2_position_controller/pid/i: 0.01
 * /rrbot/joint2_position_controller/pid/p: 100.0
 * /rrbot/joint2_position_controller/type: effort_controller...
 * /rrbot/joint_state_controller/publish_rate: 50
 * /rrbot/joint_state_controller/type: joint_state_contr...
 * /use_sim_time: True

NODES
  /rrbot/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    link_state_sub (test_cpp/link_state_sub)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    test_cpp_node (test_cpp/test_cpp_node)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3524]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1df23faa-361a-11e6-9a35-e8b1fce8918a
process[rosout-1]: started with pid [3537]
started core service [/rosout]
process[gazebo-2]: started with pid [3540]
process[gazebo_gui-3]: started with pid [3544]
process[urdf_spawner-4]: started with pid [3548]
process[rrbot/controller_spawner-5]: started with pid [3553]
process[robot_state_publisher-6]: started with pid [3556]
process[test_cpp_node-7]: started with pid [3557]
process[link_state_sub-8]: started with pid [3558]
[INFO] [WallTime: 1466339656.700520] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
[ INFO] [1466339657.959381975]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for masterMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.13
[ INFO] [1466339657.959881122]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.13
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
spawn_model script started
[INFO] [WallTime: 1466339659.674376] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1466339659.676708] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[ INFO] [1466339660.119083567, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1466339660.166094403, 0.068000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1466339660.283274] [0.181000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1466339661.475027684, 0.259000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466339661.742954418, 0.259000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1466339661.770601122, 0.259000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466339661.770687551, 0.259000000]: Starting GazeboRosLaser Plugin (ns = /)!
[INFO] [WallTime: 1466339661.796252] [0.259000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1466339661.947211497, 0.259000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1466339661.948190231, 0.259000000]: LoadThread function completed
[urdf_spawner-4] process has finished cleanly
log file: /home/mech-user/.ros/log/1df23faa-361a-11e6-9a35-e8b1fce8918a/urdf_spawner-4*.log
[ INFO] [1466339662.098829835, 0.259000000]: Loading gazebo_ros_control plugin
[ INFO] [1466339662.098969418, 0.259000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1466339662.099839826, 0.259000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1466339663.703021569, 0.259000000]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1466339663.934893] [0.458000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1466339663.936203] [0.460000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1466339663.937276] [0.461000] Loading controller: joint_state_controller
[INFO] [WallTime: 1466339664.068020] [0.590000] Loading controller: joint1_position_controller
[INFO] [WallTime: 1466339664.259978] [0.780000] Loading controller: joint2_position_controller
[INFO] [WallTime: 1466339664.295859] [0.816000] Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
[INFO] [WallTime: 1466339664.298775] [0.819000] Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller

ここでCtrl-Cとすると、以下のメッセージが出て、shutdown errorとなってしまいます。

^C[link_state_sub-8] killing on exit
[test_cpp_node-7] killing on exit
[robot_state_publisher-6] killing on exit
[rrbot/controller_spawner-5] killing on exit
[gazebo_gui-3] killing on exit
[gazebo-2] killing on exit
[INFO] [WallTime: 1466339667.090957] [3.603000] Shutting down spawner. Stopping and unloading controllers...
[rrbot/controller_spawner-5] escalating to SIGTERM
[rrbot/controller_spawner-5] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
 * process[rrbot/controller_spawner-5, pid 3553]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done

ここで、エラーを出しているcontroller_spawnerは次のlaunchファイルからlaunchされています。

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/rrbot" args="joint_state_controller
                      joint1_position_controller
                      joint2_position_controller"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/rrbot/joint_states" />
  </node>

</launch>

お手数をお掛けしますが、よろしくお願いいたいます。

joint_state_publisher がない

http://gazebosim.org/tutorials/?tut=ros_urdf
上記のチュートリアルの通りに進めたが、

"roslaunch rrbot_description rrbot_rviz.launch"

とした時に、

"ERROR: cannot launch node of type [joint_state_publisher/joint_state_publisher]: can't locate node [joint_state_publisher] in package [joint_state_publisher]"

というエラーが出て、チュートリアルのようなJoint Statesのウィンドウが表示されない。あと、なぜか物体の様子もおかしい。

shared pointerについて

@k-okada

include <boost/shared_ptr.hpp>をインクルードして

typedef boost::shared_ptr SharedPtr;
typedef vector* SharedPtrVec;

とすると

mech-user@test1-pc:~/2015winter/2015-soft3/20151202/src/enshu_20151202/src$ g++ -o GCTest GCTest.cpp -lpthread
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from GCTest.cpp:8:
/usr/include/boost/smart_ptr/shared_ptr.hpp: In instantiation of ‘boost::shared_ptr<T>::shared_ptr(Y*) [with Y = std::vector<int>; T = int]’:
GCTest.cpp:67:49:   required from here
/usr/include/boost/smart_ptr/shared_ptr.hpp:352:47: error: cannot convert ‘std::vector<int>*’ to ‘boost::shared_ptr<int>::element_type* {aka int*}’ in initialization
     explicit shared_ptr( Y * p ): px( p ), pn() // Y must be complete

というエラーが出ます

http://www.kmonos.net/alang/boost/classes/shared_ptr.html
このサイトを参照したのですが、stdとboostの関係がよくわかりません。
教えていただけないでしょうか？

土井

Package not found になってしまいます

岡田先生　夜分遅くに失礼します。
03150289の中山です。
GCの課題を行おうと思いまして、変更したものをcatkin buildしてrosrunしたらpackageが存在しないと言われてしまいました。
20151007の課題を復習しようとした時も結局pacage beginner_tutorials not found となってしまったので根本的にどこかが変になってしまったと思うのですが全くわかりません。
ちなみにsource ~/2015-soft3/devel/setup.bashはしてあります。

mech-user@test1-pc:~/work/win15/2015-soft3/20151202/src/enshu_20151202/src$ catkin build 
----------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/mech-user/catkin_ws/devel:/opt/ros/indigo
Workspace:                   /home/mech-user/work/win15/2015-soft3
Source Space:       [exists] /home/mech-user/work/win15/2015-soft3/src
Build Space:        [exists] /home/mech-user/work/win15/2015-soft3/build
Devel Space:        [exists] /home/mech-user/work/win15/2015-soft3/devel
Install Space:     [missing] /home/mech-user/work/win15/2015-soft3/install
DESTDIR:                     None
----------------------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            False
Isolate Installs:            False
----------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
----------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
----------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------- 
Found '1' packages in 0.0 seconds. 
Starting ==> roseus_tutorials                                                   
Finished <== roseus_tutorials [ 0.2 seconds ]                                   
[build] Finished.                                                               
[build] Runtime: 0.2 seconds 
mech-user@test1-pc:~/work/win15/2015-soft3/20151202/src/enshu_20151202/src$ rosrun enshu_20141202 GCTest
[rospack] Error: package 'enshu_20141202' not found
mech-user@test1-pc:~/work/win15/2015-soft3/20151202/src/enshu_20151202/src$ rosrun enshu_20151202 GCTest
[rospack] Error: package 'enshu_20151202' not found
mech-user@test1-pc:~/work/win15/2015-soft3/20151202/src/enshu_20151202/src$ echo $ROS_PACKAGE_PATH
/home/mech-user/work/win15/2015-soft3/src/roseus_tutorials:/home/mech-user/catkin_ws/src/kobuki:/home/mech-user/catkin_ws/src/robot-programming/turtleboteus:/home/mech-user/catkin_ws/src/robot-programming/dynamixel_7dof_arm:/home/mech-user/catkin_ws/src/testtest:/home/mech-user/catkin_ws/src/robot-programming/dxl_armed_turtlebot:/home/mech-user/catkin_ws/src/robot-programming/daisya_euslisp_tutorials:/home/mech-user/catkin_ws/src/roseus_tutorials:/opt/ros/indigo/share:/opt/ros/indigo/stacks

よろしければご教示ください。

中山

java のGC Allocation failure

@k-okada
岡田先生

12月2日資料分のjavaのGCのlog fileへの出力を行ったところ
Allocation Failureと出てきました。

ソースはもとのまま変更していないです。
一応フリーズすることなくソートはしてくれるのですが、どういうことでしょうか。
incrementalのほうも同じような結果です

Java HotSpot(TM) 64-Bit Server VM (25.66-b17) for linux-amd64 JRE (1.8.0_66-b17), built on Oct  6 2015 17:28:34 by "java_re" with gcc 4.3.0 20080428 (Red Hat 4.3.0-8)
Memory: 4k page, physical 16118240k(11345676k free), swap 16456700k(16456700k free)
CommandLine flags: -XX:InitialHeapSize=257891840 -XX:MaxHeapSize=4126269440 -XX:+PrintGC -XX:+PrintGCTimeStamps -XX:+UseCompressedClassPointers -XX:+UseCompressedOops -XX:+UseParallelGC 
0.119: [GC (Allocation Failure)  63488K->48909K(241664K), 0.0492018 secs]
0.233: [GC (Allocation Failure)  112397K->101202K(305152K), 0.0613096 secs]
0.425: [GC (Allocation Failure)  228178K->100321K(305152K), 0.0081598 secs]
0.565: [GC (Allocation Failure)  227297K->205290K(460288K), 0.1036157 secs]
0.668: [Full GC (Ergonomics)  205290K->114011K(596992K), 0.5126571 secs]
1.454: [GC (Allocation Failure)  367963K->324504K(596992K), 0.1775532 secs]
1.631: [Full GC (Ergonomics)  324504K->127850K(762880K), 0.4991444 secs]
2.382: [GC (Allocation Failure)  381802K->331362K(1028608K), 0.1618277 secs]

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