Information
Build log
$ git clone https://github.com/devrt/world-robot-picking.git /work
Cloning into '/work'...
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Checking connectivity... done.
$ cd /work
$ git submodule update --init --recursive
Submodule 'learn-control-pid' (https://github.com/devrt/learn-control-pid.git) registered for path 'learn-control-pid'
Submodule 'model-desk' (https://github.com/devrt/model-desk.git) registered for path 'model-desk'
Submodule 'model-factory-conveyor' (https://github.com/devrt/model-factory-conveyor.git) registered for path 'model-factory-conveyor'
Cloning into 'learn-control-pid'...
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Checking connectivity... done.
Submodule path 'learn-control-pid': checked out 'e57d77eac86604718eef6224084bf9f5662081dd'
Cloning into 'model-desk'...
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Submodule path 'model-desk': checked out 'a7735ed940e491608db3d9f3e4899a807822133d'
Cloning into 'model-factory-conveyor'...
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Checking connectivity... done.
Submodule path 'model-factory-conveyor': checked out '27f748e72afa43177d66d3e289197087f1390e34'
$ apt-get install -y libopencv-dev
Reading package lists... 0%
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Reading package lists... Done
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Building dependency tree
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Reading state information... Done
libopencv-dev is already the newest version.
The following package was automatically installed and is no longer required:
libjpeg62
Use 'apt-get autoremove' to remove it.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
$ make
rm -f PA10Controller.o
g++ `rtm-config --cflags` `pkg-config --cflags opencv` `pkg-config --cflags hrpsys-base` -c -o PA10Controller.o PA10Controller.cpp
In file included from PA10Controller.cpp:10:0:
PA10Controller.h: In constructor 'PA10Controller::PA10Controller(RTC::Manager*)':
PA10Controller.h:123:27: warning: 'PA10Controller::m_torqueOut' will be initialized after [-Wreorder]
OutPort<TimedDoubleSeq> m_torqueOut;
^
PA10Controller.h:114:26: warning: 'RTC::InPort<RTC::TimedDoubleSeq> PA10Controller::m_beltanglesIn' [-Wreorder]
InPort<TimedDoubleSeq> m_beltanglesIn;
^
PA10Controller.cpp:30:1: warning: when initialized here [-Wreorder]
PA10Controller::PA10Controller(RTC::Manager* manager)
^
rm -f PA10Controller.so
g++ -shared -o PA10Controller.so PA10Controller.o `rtm-config --libs` `pkg-config --libs opencv`
$ hrpsys-simulator robotpicking-no-camera.xml 'echo "here we start!"'
libdc1394 error: Failed to initialize libdc1394
createBody(base,file:///work/model-factory-conveyor/conveyor-basement.wrl)
Loading body customizer "/usr/local/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
createBody(belt,file:///work/model-factory-conveyor/conveyor-belt.wrl)
createBody(box,file:///work/box.wrl)
createBody(box2,file:///work/box2.wrl)
createBody(box3,file:///work/box3.wrl)
createBody(desk,file:///work/model-desk/desk.wrl)
createBody(pa10,file:///work/learn-control-pid/PA10/pa10.main.wrl)
loading PA10Controller.so
creating PA10Controller0
PA10Controller0:0.005
pa10:0.005
making a connection between pa10.q and PA10Controller0.angles
BodyRTC::onActivated(0)
making a connection between pa10.dq and PA10Controller0.vels
making a connection between PA10Controller0.torque and pa10.qRef
making a connection between belt.q and PA10Controller0.beltangles
making a connection between belt.dq and PA10Controller0.beltvels
making a connection between PA10Controller0.belttorque and belt.qRef
number of receivers:2
timestep = 0.001, total time = 20
here we start!
total : 5.166[s], 0.968[sim/real]
controller: 0.087[s], 0.017[ms/frame]
collision : 0.633[s], 0.127[ms/frame]
dynamics : 0.533[s], 0.107[ms/frame]
num of triangles : base : 33192
num of triangles : belt : 520
num of triangles : box : 12
num of triangles : box2 : 12
num of triangles : box3 : 12
num of triangles : desk : 1206
num of triangles : pa10 : 1372
BodyRTC::onDeactivated(0)
