Sometimes when I run task 2, move arm to home position and then call /load_rivet service, "hole_guess" is not published on target_frame topic (rostopic echo doesn't show anything). Sometimes this work well (hole_guess is received) but then after calling /trigger_rivet service I don't receive "rivet_home". Anyone with similar experience?
This is console output for the second situation:
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[INFO] [WallTime: 1413384902.060391] [76.244000] asking client to prepare for task2
[INFO] [WallTime: 1413384902.076050] [76.250000] preparing for task 2 done
[INFO] [WallTime: 1413384902.079698] [76.250000] timebudget: 600
...
[INFO] [WallTime: 1413384903.089373] [76.603000] asking client to solve task2
[ WARN] [1413384904.881745317, 77.205000000]: Dropping first 1 trajectory point(s) out of 27, as they occur before the current time.
First valid point will be reached in 0.418s.
[INFO] [WallTime: 1413384912.501692] [80.307000] next hole's frame is h19
[INFO] [WallTime: 1413384912.503251] [80.309000] reached home position
[ WARN] [1413384916.000389213, 81.455000000]: Dropping first 1 trajectory point(s) out of 51, as they occur before the current time.
First valid point will be reached in 0.453s.
[WARN] [WallTime: 1413384930.160129] [86.732000] Still waiting for action server '/gazebo/planar_movement' to start... is it running?
[INFO] [WallTime: 1413384930.426850] [86.840000] Connected to action server '/gazebo/planar_movement'.
[ INFO] [1413384930.435282576, 86.844000000]: received PlanarMovementGoal
[ INFO] [1413384930.435664498, 86.846000000]: start planar movement
[ WARN] [1413384933.633279294, 87.641000000]: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time.
First valid point will be reached in 0.122s.
[ WARN] [1413384938.688737281, 89.240000000]: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time.
First valid point will be reached in 0.153s.
[INFO] [WallTime: 1413384943.961894] [90.441000] reached hole position
[ WARN] [1413384946.992563294, 90.937000000]: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time.
First valid point will be reached in 0.238s.
[ WARN] [1413384953.535081761, 92.969000000]: Dropping first 1 trajectory point(s) out of 33, as they occur before the current time.
First valid point will be reached in 0.522s.
[ INFO] [1413384953.752728850, 93.047000000]: planar movement finished successfully
[ INFO] [1413384956.371279531, 94.058000000]: received PlanarMovementGoal
[ INFO] [1413384956.371785848, 94.058000000]: start planar movement
[ INFO] [1413384959.312290980, 95.359000000]: planar movement finished successfully
[ INFO] [1413384959.324432106, 95.365000000]: received PlanarMovementGoal
[ INFO] [1413384959.324636459, 95.365000000]: start planar movement
[ INFO] [1413384960.373033921, 95.767000000]: planar movement finished successfully
[INFO] [WallTime: 1413384964.522496] [97.369000] next hole's frame is h18
[INFO] [WallTime: 1413384964.523587] [97.370000] reached home position
[ INFO] [1413384965.856771304, 97.828000000]: received PlanarMovementGoal
[ INFO] [1413384965.857073975, 97.828000000]: start planar movement
And this is received on target_frame topic:
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rostopic echo /target_frame
WARNING: no messages received and simulated time is active.
Is /clock being published?
data: rivet_home
---
data: /rivet_home
---
data: /hole_guess
---
data: /rivet_home
---
data: /hole_guess
---
After second call of /trigger_rivet there is no "rivet_home" on the topic. Any idea?