Tiago doesn't move

Hi,
My config: ubuntu16.04 - ROS kinetic.
I try to follow the Tiago tutorials but I meet an issue when I launch gazebo with:
roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium world:=simple_office_with_people
The robot keeps his head and his arm 'soft' so I think to a problem of controllers. And also the robot doesn't move with the key_teleop command.

Moreover I have a FATAL error maybe linked :
[FATAL] [1554900139.882791288, 0.001000000]: Failed to create robot simulation
interface loader: Could not find library corresponding to plugin
pal_hardware_gazebo/PalHardwareGazebo.Make sure the plugin description XML
file has the   correct name of the library and that the library actually exists.

Yet in my worksape I have the plugin .xml: tiago_public_ws/src/pal_hardware_gazeb/pal_hardware_gazebo_plugins.xml
Could you give me ideas to debug?

Hi @FCam1,
Sorry to hear that you are having issues with this.
Could you post the full logs of the tiago_gazebo.launch?
Also, make sure that the full workspace was built properly, that  you have sourced it, and that you can find the gazebo ros control plugins using rospack plugins --attrib=plugin gazebo_ros_control.
Finally, we've seen some interactions if people have ros control installed from ROS sources, you should only have our version usable from the workspace. As discussed here: https://answers.ros.org/question/292578/is-the-tutorial-to-compile-tiago-with-ros-kinetic-working/
It may manifest as an runtime issue, instead of a compilation problem.

Thanks for answering
tiago_gazebo.launch gives me this :
.. logging to /home/fcaminad/.ros/log/c5b87abe-5ba2-11e9-9582-f8b156bf986d/roslaunch-bandaisan-3134.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.

deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /local/fcaminad/devel/tiago_public_ws/src/hey5_description/urdf/deg_to_rad.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/hey5_description/urdf/hey5_hand.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/tiago_robot/tiago_description/urdf/end_effector/end_effector.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/tiago_robot/tiago_description/robots/tiago.urdf.xacro

started roslaunch server http://bandaisan:42507/

SUMMARY
========

PARAMETERS
 * /arm_controller/constraints/arm_1_joint/goal: 0.02
 * /arm_controller/constraints/arm_2_joint/goal: 0.02
 * /arm_controller/constraints/arm_3_joint/goal: 0.02
 * /arm_controller/constraints/arm_4_joint/goal: 0.02
 * /arm_controller/constraints/arm_5_joint/goal: 0.02
 * /arm_controller/constraints/arm_6_joint/goal: 0.02
 * /arm_controller/constraints/arm_7_joint/goal: 0.02
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/stopped_velocity_tolerance: 5.0
 * /arm_controller/joints: ['arm_1_joint', '...
 * /arm_controller/type: position_controll...
 * /collision_model_parameters/blacklist/default: [{'second': 'tors...
 * /collision_model_parameters/links_with_padding: ['arm_4_link', 'a...
 * /collision_model_parameters/padding: 0.025
 * /force_torque/wrist_ft/frame: wrist_ft_link
 * /force_torque/wrist_ft/sensor_joint: arm_7_joint
 * /force_torque_sensor_controller/publish_rate: 50
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /gains/FFJ1/d: 0
 * /gains/FFJ1/i: 10
 * /gains/FFJ1/p: 100
 * /gains/FFJ2/d: 0
 * /gains/FFJ2/i: 10
 * /gains/FFJ2/p: 100
 * /gains/FFJ3/d: 0
 * /gains/FFJ3/i: 10
 * /gains/FFJ3/p: 100
 * /gains/FFJ4/d: 0
 * /gains/FFJ4/i: 10
 * /gains/FFJ4/p: 100
 * /gains/MFJ1/d: 0
 * /gains/MFJ1/i: 10
 * /gains/MFJ1/p: 100
 * /gains/MFJ2/d: 0
 * /gains/MFJ2/i: 10
 * /gains/MFJ2/p: 100
 * /gains/MFJ3/d: 0
 * /gains/MFJ3/i: 10
 * /gains/MFJ3/p: 100
 * /gains/MFJ4/d: 0
 * /gains/MFJ4/i: 10
 * /gains/MFJ4/p: 100
 * /gains/RFJ1/d: 0
 * /gains/RFJ1/i: 10
 * /gains/RFJ1/p: 100
 * /gains/RFJ2/d: 0
 * /gains/RFJ2/i: 10
 * /gains/RFJ2/p: 100
 * /gains/RFJ3/d: 0
 * /gains/RFJ3/i: 10
 * /gains/RFJ3/p: 100
 * /gains/RFJ4/d: 0
 * /gains/RFJ4/i: 10
 * /gains/RFJ4/p: 100
 * /gains/THJ1/d: 0
 * /gains/THJ1/i: 10
 * /gains/THJ1/p: 100
 * /gains/THJ2/d: 0
 * /gains/THJ2/i: 10
 * /gains/THJ2/p: 100
 * /gains/THJ4/d: 0
 * /gains/THJ4/i: 10
 * /gains/THJ4/p: 100
 * /gains/THJ5/d: 0
 * /gains/THJ5/i: 10
 * /gains/THJ5/p: 100
 * /gains/arm_1_joint/d: 5
 * /gains/arm_1_joint/i: 1
 * /gains/arm_1_joint/i_clamp: 3
 * /gains/arm_1_joint/p: 3000
 * /gains/arm_1_joint/torque_clamp: 60
 * /gains/arm_2_joint/d: 5
 * /gains/arm_2_joint/i: 1
 * /gains/arm_2_joint/i_clamp: 3
 * /gains/arm_2_joint/p: 3000
 * /gains/arm_2_joint/torque_clamp: 50
 * /gains/arm_3_joint/d: 5
 * /gains/arm_3_joint/i: 1
 * /gains/arm_3_joint/i_clamp: 3
 * /gains/arm_3_joint/p: 3000
 * /gains/arm_3_joint/torque_clamp: 50
 * /gains/arm_4_joint/d: 5
 * /gains/arm_4_joint/i: 1
 * /gains/arm_4_joint/i_clamp: 3
 * /gains/arm_4_joint/p: 3000
 * /gains/arm_4_joint/torque_clamp: 50
 * /gains/arm_5_joint/d: 1
 * /gains/arm_5_joint/i: 0.1
 * /gains/arm_5_joint/i_clamp: 3
 * /gains/arm_5_joint/p: 500
 * /gains/arm_5_joint/torque_clamp: 50
 * /gains/arm_6_joint/d: 1
 * /gains/arm_6_joint/i: 0.1
 * /gains/arm_6_joint/i_clamp: 3
 * /gains/arm_6_joint/p: 500
 * /gains/arm_6_joint/torque_clamp: 50
 * /gains/arm_7_joint/d: 1
 * /gains/arm_7_joint/i: 0.1
 * /gains/arm_7_joint/i_clamp: 3
 * /gains/arm_7_joint/p: 500
 * /gains/arm_7_joint/torque_clamp: 50
 * /gains/gripper_finger_joint/d: 0
 * /gains/gripper_finger_joint/i: 0
 * /gains/gripper_finger_joint/p: 2000
 * /gains/gripper_finger_joint/p_gain: 2000
 * /gains/gripper_left_finger_joint/d: 0
 * /gains/gripper_left_finger_joint/i: 0
 * /gains/gripper_left_finger_joint/p: 2000
 * /gains/gripper_left_finger_joint/p_gain: 2000
 * /gains/gripper_right_finger_joint/d: 0
 * /gains/gripper_right_finger_joint/i: 0
 * /gains/gripper_right_finger_joint/p: 2000
 * /gains/gripper_right_finger_joint/p_gain: 2000
 * /gains/hand_index_abd_joint/d: 0.1
 * /gains/hand_index_abd_joint/i: 0.1
 * /gains/hand_index_abd_joint/i_clamp: 1
 * /gains/hand_index_abd_joint/p: 50
 * /gains/hand_index_flex_1_joint/d: 0.1
 * /gains/hand_index_flex_1_joint/i: 0.1
 * /gains/hand_index_flex_1_joint/i_clamp: 1
 * /gains/hand_index_flex_1_joint/p: 50
 * /gains/hand_index_flex_2_joint/d: 0.1
 * /gains/hand_index_flex_2_joint/i: 0.1
 * /gains/hand_index_flex_2_joint/i_clamp: 1
 * /gains/hand_index_flex_2_joint/p: 50
 * /gains/hand_index_flex_3_joint/d: 0.1
 * /gains/hand_index_flex_3_joint/i: 0.1
 * /gains/hand_index_flex_3_joint/i_clamp: 1
 * /gains/hand_index_flex_3_joint/p: 50
 * /gains/hand_index_joint/d: 0.1
 * /gains/hand_index_joint/i: 0.1
 * /gains/hand_index_joint/i_clamp: 1
 * /gains/hand_index_joint/p: 50
 * /gains/hand_index_virtual_1_joint/d: 0.1
 * /gains/hand_index_virtual_1_joint/i: 0.1
 * /gains/hand_index_virtual_1_joint/i_clamp: 1
 * /gains/hand_index_virtual_1_joint/p: 50
 * /gains/hand_index_virtual_2_joint/d: 0.1
 * /gains/hand_index_virtual_2_joint/i: 0.1
 * /gains/hand_index_virtual_2_joint/i_clamp: 1
 * /gains/hand_index_virtual_2_joint/p: 50
 * /gains/hand_index_virtual_3_joint/d: 0.1
 * /gains/hand_index_virtual_3_joint/i: 0.1
 * /gains/hand_index_virtual_3_joint/i_clamp: 1
 * /gains/hand_index_virtual_3_joint/p: 50
 * /gains/hand_little_abd_joint/d: 0.1
 * /gains/hand_little_abd_joint/i: 0.1
 * /gains/hand_little_abd_joint/i_clamp: 1
 * /gains/hand_little_abd_joint/p: 50
 * /gains/hand_little_flex_1_joint/d: 0.1
 * /gains/hand_little_flex_1_joint/i: 0.1
 * /gains/hand_little_flex_1_joint/i_clamp: 1
 * /gains/hand_little_flex_1_joint/p: 50
 * /gains/hand_little_flex_2_joint/d: 0.1
 * /gains/hand_little_flex_2_joint/i: 0.1
 * /gains/hand_little_flex_2_joint/i_clamp: 1
 * /gains/hand_little_flex_2_joint/p: 50
 * /gains/hand_little_flex_3_joint/d: 0.1
 * /gains/hand_little_flex_3_joint/i: 0.1
 * /gains/hand_little_flex_3_joint/i_clamp: 1
 * /gains/hand_little_flex_3_joint/p: 50
 * /gains/hand_little_virtual_1_joint/d: 0.1
 * /gains/hand_little_virtual_1_joint/i: 0.1
 * /gains/hand_little_virtual_1_joint/i_clamp: 1
 * /gains/hand_little_virtual_1_joint/p: 50
 * /gains/hand_little_virtual_2_joint/d: 0.1
 * /gains/hand_little_virtual_2_joint/i: 0.1
 * /gains/hand_little_virtual_2_joint/i_clamp: 1
 * /gains/hand_little_virtual_2_joint/p: 50
 * /gains/hand_little_virtual_3_joint/d: 0.1
 * /gains/hand_little_virtual_3_joint/i: 0.1
 * /gains/hand_little_virtual_3_joint/i_clamp: 1
 * /gains/hand_little_virtual_3_joint/p: 50
 * /gains/hand_middle_abd_joint/d: 0.1
 * /gains/hand_middle_abd_joint/i: 0.1
 * /gains/hand_middle_abd_joint/i_clamp: 1
 * /gains/hand_middle_abd_joint/p: 50
 * /gains/hand_middle_flex_1_joint/d: 0.1
 * /gains/hand_middle_flex_1_joint/i: 0.1
 * /gains/hand_middle_flex_1_joint/i_clamp: 1
 * /gains/hand_middle_flex_1_joint/p: 50
 * /gains/hand_middle_flex_2_joint/d: 0.1
 * /gains/hand_middle_flex_2_joint/i: 0.1
 * /gains/hand_middle_flex_2_joint/i_clamp: 1
 * /gains/hand_middle_flex_2_joint/p: 50
 * /gains/hand_middle_flex_3_joint/d: 0.1
 * /gains/hand_middle_flex_3_joint/i: 0.1
 * /gains/hand_middle_flex_3_joint/i_clamp: 1
 * /gains/hand_middle_flex_3_joint/p: 50
 * /gains/hand_middle_virtual_1_joint/d: 0.1
 * /gains/hand_middle_virtual_1_joint/i: 0.1
 * /gains/hand_middle_virtual_1_joint/i_clamp: 1
 * /gains/hand_middle_virtual_1_joint/p: 50
 * /gains/hand_middle_virtual_2_joint/d: 0.1
 * /gains/hand_middle_virtual_2_joint/i: 0.1
 * /gains/hand_middle_virtual_2_joint/i_clamp: 1
 * /gains/hand_middle_virtual_2_joint/p: 50
 * /gains/hand_middle_virtual_3_joint/d: 0.1
 * /gains/hand_middle_virtual_3_joint/i: 0.1
 * /gains/hand_middle_virtual_3_joint/i_clamp: 1
 * /gains/hand_middle_virtual_3_joint/p: 50
 * /gains/hand_mrl_joint/d: 0.1
 * /gains/hand_mrl_joint/i: 0.1
 * /gains/hand_mrl_joint/i_clamp: 1
 * /gains/hand_mrl_joint/p: 50
 * /gains/hand_ring_abd_joint/d: 0.1
 * /gains/hand_ring_abd_joint/i: 0.1
 * /gains/hand_ring_abd_joint/i_clamp: 1
 * /gains/hand_ring_abd_joint/p: 50
 * /gains/hand_ring_flex_1_joint/d: 0.1
 * /gains/hand_ring_flex_1_joint/i: 0.1
 * /gains/hand_ring_flex_1_joint/i_clamp: 1
 * /gains/hand_ring_flex_1_joint/p: 50
 * /gains/hand_ring_flex_2_joint/d: 0.1
 * /gains/hand_ring_flex_2_joint/i: 0.1
 * /gains/hand_ring_flex_2_joint/i_clamp: 1
 * /gains/hand_ring_flex_2_joint/p: 50
 * /gains/hand_ring_flex_3_joint/d: 0.1
 * /gains/hand_ring_flex_3_joint/i: 0.1
 * /gains/hand_ring_flex_3_joint/i_clamp: 1
 * /gains/hand_ring_flex_3_joint/p: 50
 * /gains/hand_ring_virtual_1_joint/d: 0.1
 * /gains/hand_ring_virtual_1_joint/i: 0.1
 * /gains/hand_ring_virtual_1_joint/i_clamp: 1
 * /gains/hand_ring_virtual_1_joint/p: 50
 * /gains/hand_ring_virtual_2_joint/d: 0.1
 * /gains/hand_ring_virtual_2_joint/i: 0.1
 * /gains/hand_ring_virtual_2_joint/i_clamp: 1
 * /gains/hand_ring_virtual_2_joint/p: 50
 * /gains/hand_ring_virtual_3_joint/d: 0.1
 * /gains/hand_ring_virtual_3_joint/i: 0.1
 * /gains/hand_ring_virtual_3_joint/i_clamp: 1
 * /gains/hand_ring_virtual_3_joint/p: 50
 * /gains/hand_thumb_abd_joint/d: 0.1
 * /gains/hand_thumb_abd_joint/i: 0.1
 * /gains/hand_thumb_abd_joint/i_clamp: 1
 * /gains/hand_thumb_abd_joint/p: 50
 * /gains/hand_thumb_flex_1_joint/d: 0.1
 * /gains/hand_thumb_flex_1_joint/i: 0.1
 * /gains/hand_thumb_flex_1_joint/i_clamp: 1
 * /gains/hand_thumb_flex_1_joint/p: 50
 * /gains/hand_thumb_flex_2_joint/d: 0.1
 * /gains/hand_thumb_flex_2_joint/i: 0.1
 * /gains/hand_thumb_flex_2_joint/i_clamp: 1
 * /gains/hand_thumb_flex_2_joint/p: 50
 * /gains/hand_thumb_flex_3_joint/d: 0.1
 * /gains/hand_thumb_flex_3_joint/i: 0.1
 * /gains/hand_thumb_flex_3_joint/i_clamp: 1
 * /gains/hand_thumb_flex_3_joint/p: 50
 * /gains/hand_thumb_joint/d: 0.1
 * /gains/hand_thumb_joint/i: 0.1
 * /gains/hand_thumb_joint/i_clamp: 1
 * /gains/hand_thumb_joint/p: 50
 * /gains/hand_thumb_virtual_1_joint/d: 0.1
 * /gains/hand_thumb_virtual_1_joint/i: 0.1
 * /gains/hand_thumb_virtual_1_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_1_joint/p: 50
 * /gains/hand_thumb_virtual_2_joint/d: 0.1
 * /gains/hand_thumb_virtual_2_joint/i: 0.1
 * /gains/hand_thumb_virtual_2_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_2_joint/p: 50
 * /gains/hand_thumb_virtual_3_joint/d: 0.1
 * /gains/hand_thumb_virtual_3_joint/i: 0.1
 * /gains/hand_thumb_virtual_3_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_3_joint/p: 50
 * /gains/head_1_joint/d: 0
 * /gains/head_1_joint/i: 10
 * /gains/head_1_joint/i_clamp: 1.5
 * /gains/head_1_joint/p: 100
 * /gains/head_2_joint/d: 0
 * /gains/head_2_joint/i: 10
 * /gains/head_2_joint/i_clamp: 1.5
 * /gains/head_2_joint/p: 100
 * /gains/suspension_left_joint/d: 250
 * /gains/suspension_left_joint/i: 0.1
 * /gains/suspension_left_joint/i_clamp: 1.5
 * /gains/suspension_left_joint/p: 30000
 * /gains/suspension_right_joint/d: 250
 * /gains/suspension_right_joint/i: 0.1
 * /gains/suspension_right_joint/i_clamp: 1.5
 * /gains/suspension_right_joint/p: 30000
 * /gains/torso_lift_joint/d: 250
 * /gains/torso_lift_joint/i: 0.1
 * /gains/torso_lift_joint/i_clamp: 1.5
 * /gains/torso_lift_joint/p: 30000
 * /gains/xtion_frame_joint/d: 0
 * /gains/xtion_frame_joint/i: 0
 * /gains/xtion_frame_joint/i_clamp: 1.5
 * /gains/xtion_frame_joint/p: 0.5
 * /hand_controller/constraints/goal_time: 0.6
 * /hand_controller/constraints/hand_index_joint/goal: 0.6
 * /hand_controller/constraints/hand_mrl_joint/goal: 0.3
 * /hand_controller/constraints/hand_thumb_joint/goal: 0.3
 * /hand_controller/constraints/stopped_velocity_tolerance: 0.75
 * /hand_controller/joints: ['hand_thumb_join...
 * /hand_controller/stop_trajectory_duration: 0.0
 * /hand_controller/type: position_controll...
 * /hand_grasping_action/target_controller: hand_controller
 * /head_controller/constraints/goal_time: 2.0
 * /head_controller/constraints/head_1_joint/goal: 0.5
 * /head_controller/constraints/head_2_joint/goal: 0.5
 * /head_controller/constraints/stopped_velocity_tolerance: 5.0
 * /head_controller/joints: ['head_1_joint', ...
 * /head_controller/point_head_action/pan_link: head_1_link
 * /head_controller/point_head_action/success_angle_threshold: 0.01
 * /head_controller/point_head_action/tilt_link: head_2_link
 * /head_controller/type: position_controll...
 * /imu/base_imu/frame: base_imu_link
 * /imu/base_imu/gazebo_sensor_name: imu_sensor
 * /imu_sensor_controller/publish_rate: 50
 * /imu_sensor_controller/type: imu_sensor_contro...
 * /joint_state_controller/extra_joints: [{'name': 'caster...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joystick/autorepeat_rate: 10
 * /joystick_relay/priority: False
 * /joystick_relay/turbo/angular_max: 1.3962634016
 * /joystick_relay/turbo/angular_min: 0.261799387799
 * /joystick_relay/turbo/linear_backward_max: 0.3
 * /joystick_relay/turbo/linear_backward_min: 0.1
 * /joystick_relay/turbo/linear_forward_max: 0.5
 * /joystick_relay/turbo/linear_forward_min: 0.1
 * /joystick_relay/turbo/steps: 6
 * /mobile_base_controller/angular/z/has_acceleration_limits: True
 * /mobile_base_controller/angular/z/has_velocity_limits: True
 * /mobile_base_controller/angular/z/max_acceleration: 2.09439510239
 * /mobile_base_controller/angular/z/max_velocity: 2.09439510239
 * /mobile_base_controller/base_frame_id: /base_footprint
 * /mobile_base_controller/cmd_vel_timeout: 0.25
 * /mobile_base_controller/left_wheel: wheel_left_joint
 * /mobile_base_controller/linear/x/has_acceleration_limits: True
 * /mobile_base_controller/linear/x/has_velocity_limits: True
 * /mobile_base_controller/linear/x/max_acceleration: 1.0
 * /mobile_base_controller/linear/x/max_velocity: 1.0
 * /mobile_base_controller/linear/x/min_velocity: -0.2
 * /mobile_base_controller/odom_frame_id: /odom
 * /mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/preserve_turning_radius: True
 * /mobile_base_controller/publish_rate: 50.0
 * /mobile_base_controller/publish_wheel_data: True
 * /mobile_base_controller/right_wheel: wheel_right_joint
 * /mobile_base_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/type: diff_drive_contro...
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.01
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(arm_1_join...
 * /move_group/arm_torso/longest_valid_segment_fraction: 0.01
 * /move_group/arm_torso/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm_torso/projection_evaluator: joints(torso_lift...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/use_controller_manager: True
 * /pal_robot_info/type: tiago
 * /play_motion/approach_planner/exclude_from_planning_joints: ['head_1_joint', ...
 * /play_motion/approach_planner/joint_tolerance: 0.01
 * /play_motion/approach_planner/planning_groups: ['arm_torso', 'arm']
 * /play_motion/approach_planner/skip_planning_approach_min_dur: 0.5
 * /play_motion/approach_planner/skip_planning_approach_vel: 0.5
 * /play_motion/controllers: ['arm_controller'...
 * /play_motion/disable_motion_planning: False
 * /play_motion/motions/close/joints: ['hand_thumb_join...
 * /play_motion/motions/close/meta/description: Closes hand
 * /play_motion/motions/close/meta/name: Close Hand
 * /play_motion/motions/close/meta/usage: demo
 * /play_motion/motions/close/points: [{'positions': [2...
 * /play_motion/motions/close_half/joints: ['hand_thumb_join...
 * /play_motion/motions/close_half/meta/description: Closes hand halfway
 * /play_motion/motions/close_half/meta/name: Close Hand Half
 * /play_motion/motions/close_half/meta/usage: demo
 * /play_motion/motions/close_half/points: [{'positions': [3...
 * /play_motion/motions/close_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/close_hand/points: [{'positions': [2...
 * /play_motion/motions/do_weights/joints: ['arm_1_joint', '...
 * /play_motion/motions/do_weights/meta/description: Do weights
 * /play_motion/motions/do_weights/meta/name: Do Weights
 * /play_motion/motions/do_weights/meta/usage: demo
 * /play_motion/motions/do_weights/points: [{'positions': [1...
 * /play_motion/motions/gun_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/gun_hand/meta/description: gun_hand
 * /play_motion/motions/gun_hand/meta/name: Gun Hand
 * /play_motion/motions/gun_hand/meta/usage: demo
 * /play_motion/motions/gun_hand/points: [{'positions': [-...
 * /play_motion/motions/head_tour/joints: ['head_1_joint', ...
 * /play_motion/motions/head_tour/meta/description: head_tour
 * /play_motion/motions/head_tour/meta/name: Head Tour
 * /play_motion/motions/head_tour/meta/usage: demo
 * /play_motion/motions/head_tour/points: [{'positions': [0...
 * /play_motion/motions/home/joints: ['torso_lift_join...
 * /play_motion/motions/home/meta/description: Go home
 * /play_motion/motions/home/meta/name: Home
 * /play_motion/motions/home/meta/usage: demo
 * /play_motion/motions/home/points: [{'positions': [0...
 * /play_motion/motions/inspect_surroundings/joints: ['head_1_joint', ...
 * /play_motion/motions/inspect_surroundings/meta/description: Inspect surroundi...
 * /play_motion/motions/inspect_surroundings/meta/name: Inspect Surroundings
 * /play_motion/motions/inspect_surroundings/meta/usage: demo
 * /play_motion/motions/inspect_surroundings/points: [{'positions': [-...
 * /play_motion/motions/offer/joints: ['torso_lift_join...
 * /play_motion/motions/offer/meta/description: Offer hand
 * /play_motion/motions/offer/meta/name: Offer Hand
 * /play_motion/motions/offer/meta/usage: demo
 * /play_motion/motions/offer/points: [{'positions': [0...
 * /play_motion/motions/offer_hand/joints: ['torso_lift_join...
 * /play_motion/motions/offer_hand/points: [{'positions': [0...
 * /play_motion/motions/open/joints: ['hand_thumb_join...
 * /play_motion/motions/open/meta/description: Opens hand
 * /play_motion/motions/open/meta/name: Open Hand
 * /play_motion/motions/open/meta/usage: demo
 * /play_motion/motions/open/points: [{'positions': [-...
 * /play_motion/motions/open_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/open_hand/points: [{'positions': [-...
 * /play_motion/motions/pick_from_floor/joints: ['torso_lift_join...
 * /play_motion/motions/pick_from_floor/meta/description: Pick a shirt-like...
 * /play_motion/motions/pick_from_floor/meta/name: Pick from floor
 * /play_motion/motions/pick_from_floor/meta/usage: demo
 * /play_motion/motions/pick_from_floor/points: [{'positions': [0...
 * /play_motion/motions/pinch_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/pinch_hand/meta/description: pinch_hand
 * /play_motion/motions/pinch_hand/meta/name: Pinch Hand
 * /play_motion/motions/pinch_hand/meta/usage: demo
 * /play_motion/motions/pinch_hand/points: [{'positions': [0...
 * /play_motion/motions/point/joints: ['hand_thumb_join...
 * /play_motion/motions/point/meta/description: Pointing Hand
 * /play_motion/motions/point/meta/name: Pointing Hand
 * /play_motion/motions/point/meta/usage: demo
 * /play_motion/motions/point/points: [{'positions': [2...
 * /play_motion/motions/pointing_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/pointing_hand/points: [{'positions': [2...
 * /play_motion/motions/pregrasp_weight/joints: ['torso_lift_join...
 * /play_motion/motions/pregrasp_weight/meta/description: Pregrasp weight
 * /play_motion/motions/pregrasp_weight/meta/name: Pregrasp Weight
 * /play_motion/motions/pregrasp_weight/meta/usage: demo
 * /play_motion/motions/pregrasp_weight/points: [{'positions': [0...
 * /play_motion/motions/prepare_grasp/joints: ['torso_lift_join...
 * /play_motion/motions/prepare_grasp/meta/description: Prepare grasp pos...
 * /play_motion/motions/prepare_grasp/meta/name: Prepare Grasp
 * /play_motion/motions/prepare_grasp/meta/usage: demo
 * /play_motion/motions/prepare_grasp/points: [{'positions': [0...
 * /play_motion/motions/reach_floor/joints: ['torso_lift_join...
 * /play_motion/motions/reach_floor/meta/description: Reach floor
 * /play_motion/motions/reach_floor/meta/name: Reach Floor
 * /play_motion/motions/reach_floor/meta/usage: demo
 * /play_motion/motions/reach_floor/points: [{'positions': [0...
 * /play_motion/motions/reach_max/joints: ['torso_lift_join...
 * /play_motion/motions/reach_max/meta/description: Reach max
 * /play_motion/motions/reach_max/meta/name: Reach Max
 * /play_motion/motions/reach_max/meta/usage: demo
 * /play_motion/motions/reach_max/points: [{'positions': [0...
 * /play_motion/motions/shake_hands/joints: ['hand_thumb_join...
 * /play_motion/motions/shake_hands/meta/description: shake_hands
 * /play_motion/motions/shake_hands/meta/name: Shake hands
 * /play_motion/motions/shake_hands/meta/usage: demo
 * /play_motion/motions/shake_hands/points: [{'positions': [0...
 * /play_motion/motions/thumb_up_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/thumb_up_hand/meta/description: thumb_up_hand
 * /play_motion/motions/thumb_up_hand/meta/name: Thumb Up Hand
 * /play_motion/motions/thumb_up_hand/meta/usage: demo
 * /play_motion/motions/thumb_up_hand/points: [{'positions': [-...
 * /play_motion/motions/unfold_arm/joints: ['torso_lift_join...
 * /play_motion/motions/unfold_arm/meta/description: unfold_arm
 * /play_motion/motions/unfold_arm/meta/name: Unfold arm
 * /play_motion/motions/unfold_arm/meta/usage: demo
 * /play_motion/motions/unfold_arm/points: [{'positions': [0...
 * /play_motion/motions/wave/joints: ['arm_1_joint', '...
 * /play_motion/motions/wave/meta/description: wave
 * /play_motion/motions/wave/meta/name: Wave
 * /play_motion/motions/wave/meta/usage: demo
 * /play_motion/motions/wave/points: [{'positions': [0...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_1_joint/max_velocity: 2.7
 * /robot_description_planning/joint_limits/arm_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_2_joint/max_velocity: 3.66
 * /robot_description_planning/joint_limits/arm_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_3_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_4_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_5_joint/max_velocity: 1.95
 * /robot_description_planning/joint_limits/arm_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_6_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_7_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_7_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_7_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_7_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.07
 * /robot_description_semantic: <!-- Autogenerate...
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix:
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /teleop/close_hand/action_goal/motion_name: close_hand
 * /teleop/close_hand/action_goal/skip_planning: True
 * /teleop/close_hand/action_name: /play_motion
 * /teleop/close_hand/buttons: [7]
 * /teleop/close_hand/type: action
 * /teleop/head_down/action_goal/increment_by: [-0.1, 0]
 * /teleop/head_down/action_name: /head_controller/...
 * /teleop/head_down/buttons: [2]
 * /teleop/head_down/type: action
 * /teleop/head_left/action_goal/increment_by: [0, 0.1]
 * /teleop/head_left/action_name: /head_controller/...
 * /teleop/head_left/buttons: [3]
 * /teleop/head_left/type: action
 * /teleop/head_right/action_goal/increment_by: [0, -0.1]
 * /teleop/head_right/action_name: /head_controller/...
 * /teleop/head_right/buttons: [1]
 * /teleop/head_right/type: action
 * /teleop/head_up/action_goal/increment_by: [0.1, 0]
 * /teleop/head_up/action_name: /head_controller/...
 * /teleop/head_up/buttons: [0]
 * /teleop/head_up/type: action
 * /teleop/joy_priority/action_name: joy_priority_action
 * /teleop/joy_priority/buttons: [9]
 * /teleop/joy_priority/type: action
 * /teleop/joy_turbo_angular_decrease/action_name: joy_turbo_angular...
 * /teleop/joy_turbo_angular_decrease/buttons: [8, 2]
 * /teleop/joy_turbo_angular_decrease/type: action
 * /teleop/joy_turbo_angular_increase/action_name: joy_turbo_angular...
 * /teleop/joy_turbo_angular_increase/buttons: [8, 0]
 * /teleop/joy_turbo_angular_increase/type: action
 * /teleop/joy_turbo_decrease/action_name: joy_turbo_decrease
 * /teleop/joy_turbo_decrease/buttons: [8, 1]
 * /teleop/joy_turbo_decrease/type: action
 * /teleop/joy_turbo_increase/action_name: joy_turbo_increase
 * /teleop/joy_turbo_increase/buttons: [8, 3]
 * /teleop/joy_turbo_increase/type: action
 * /teleop/joy_turbo_reset/action_name: joy_turbo_reset
 * /teleop/joy_turbo_reset/buttons: [10, 11]
 * /teleop/joy_turbo_reset/type: action
 * /teleop/move/axis_mappings: [{'scale': 1.0, '...
 * /teleop/move/message_type: geometry_msgs/Twist
 * /teleop/move/topic_name: cmd_vel
 * /teleop/move/type: topic
 * /teleop/open_hand/action_goal/motion_name: open_hand
 * /teleop/open_hand/action_goal/skip_planning: True
 * /teleop/open_hand/action_name: /play_motion
 * /teleop/open_hand/buttons: [5]
 * /teleop/open_hand/type: action
 * /teleop/torso_down/action_goal/increment_by: [-0.05]
 * /teleop/torso_down/action_name: /torso_controller...
 * /teleop/torso_down/buttons: [6]
 * /teleop/torso_down/type: action
 * /teleop/torso_up/action_goal/increment_by: [0.05]
 * /teleop/torso_up/action_name: /torso_controller...
 * /teleop/torso_up/buttons: [4]
 * /teleop/torso_up/type: action
 * /torso_controller/constraints/goal_time: 0.6
 * /torso_controller/constraints/stopped_velocity_tolerance: 5.0
 * /torso_controller/constraints/torso_1_joint/goal: 0.02
 * /torso_controller/constraints/torso_2_joint/goal: 0.02
 * /torso_controller/joints: ['torso_lift_joint']
 * /torso_controller/type: position_controll...
 * /twist_mux/locks: [{'topic': 'pause...
 * /twist_mux/topics: [{'topic': 'nav_v...
 * /use_sim_time: True
 * /velocity/pid_gains/caster_back_left_1_joint/d: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_1_joint/p: 0
 * /velocity/pid_gains/caster_back_left_2_joint/d: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_2_joint/p: 0
 * /velocity/pid_gains/caster_back_right_1_joint/d: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_1_joint/p: 0
 * /velocity/pid_gains/caster_back_right_2_joint/d: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_2_joint/p: 0
 * /velocity/pid_gains/caster_front_left_1_joint/d: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_1_joint/p: 0
 * /velocity/pid_gains/caster_front_left_2_joint/d: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_2_joint/p: 0
 * /velocity/pid_gains/caster_front_right_1_joint/d: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_1_joint/p: 0
 * /velocity/pid_gains/caster_front_right_2_joint/d: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_2_joint/p: 0
 * /velocity/pid_gains/wheel_left_joint/d: 0
 * /velocity/pid_gains/wheel_left_joint/i: 0
 * /velocity/pid_gains/wheel_left_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_left_joint/p: 30
 * /velocity/pid_gains/wheel_right_joint/d: 0
 * /velocity/pid_gains/wheel_right_joint/i: 0
 * /velocity/pid_gains/wheel_right_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_right_joint/p: 30

NODES
  /torso_controller/
    incrementer (joy_teleop/incrementer_server)
  /xtion/rgb/
    image_proc (image_proc/image_proc)
  /head_controller/
    incrementer (joy_teleop/incrementer_server)
    point_head_action (head_action/head_action)
  /
    bringup_controllers_spawner_ft (controller_manager/spawner)
    bringup_controllers_spawner_imu (controller_manager/spawner)
    default_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    hand_controller_spawner (controller_manager/spawner)
    hand_grasping_action (simple_grasping_action/simple_grasping_action)
    image_raw_to_rect_color_relay (topic_tools/relay)
    is_already_there (play_motion/is_already_there.py)
    joy_teleop (joy_teleop/joy_teleop.py)
    joystick (joy/joy_node)
    joystick_relay (twist_mux/joystick_relay.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    tf_lookup (tf_lookup/tf_lookup)
    tuck_arm (tiago_gazebo/tuck_arm.py)
    twist_marker (twist_mux/twist_marker)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [30267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d
process[rosout-1]: started with pid [30280]
started core service [/rosout]
process[gazebo-2]: started with pid [30299]
process[gazebo_gui-3]: started with pid [30304]
process[spawn_model-4]: started with pid [30312]
process[default_controllers_spawner-5]: started with pid [30351]
ERROR: cannot launch node of type [head_action/head_action]: can't locate node [head_action] in package [head_action]
process[bringup_controllers_spawner_imu-7]: started with pid [30370]
process[bringup_controllers_spawner_ft-8]: started with pid [30373]
process[hand_controller_spawner-9]: started with pid [30378]
process[hand_grasping_action-10]: started with pid [30381]
Traceback (most recent call last):
  File "/local/fcaminad/devel/tiago_public_ws/src/simple_grasping_action/scripts/simple_grasping_action", line 3, in <module>
    from simple_grasping_action.simple_grasping_action import SimpleGraspingAction
ImportError: No module named simple_grasping_action.simple_grasping_action
process[play_motion-11]: started with pid [30384]
[hand_grasping_action-10] process has died [pid 30381, exit code 1, cmd /local/fcaminad/devel/tiago_public_ws/src/simple_grasping_action/scripts/simple_grasping_action __name:=hand_grasping_action __log:=/home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_grasping_action-10.log].
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_grasping_action-10*.log
process[is_already_there-12]: started with pid [30391]
[ INFO] [1554908640.035806317]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554908640.043509658]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[move_group-13]: started with pid [30444]
[ INFO] [1554908640.066940127]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554908640.069522642]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[robot_state_publisher-14]: started with pid [30503]
ERROR: cannot launch node of type [tf_lookup/tf_lookup]: can't locate node [tf_lookup] in package [tf_lookup]
[INFO] [1554908640.137941, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[twist_mux-16]: started with pid [30555]
[INFO] [1554908640.174068, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[twist_marker-17]: started with pid [30587]
[ INFO] [1554908640.188805876]: Loading robot model 'tiago'...
[ INFO] [1554908640.188897577]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908640.202772296]: Topic handler 'navigation' subscribed to topic 'nav_vel': timeout = 0.500000s, priority = 10
[ INFO] [1554908640.217412861]: Topic handler 'joystick' subscribed to topic 'joy_vel': timeout = 0.500000s, priority = 100
[INFO] [1554908640.223055, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[joystick_relay-18]: started with pid [30646]
[ INFO] [1554908640.229215746]: Topic handler 'keyboard' subscribed to topic 'key_vel': timeout = 0.500000s, priority = 90
[ INFO] [1554908640.245464407]: Topic handler 'tablet' subscribed to topic 'tab_vel': timeout = 0.500000s, priority = 100
[ INFO] [1554908640.259044252]: Topic handler 'marker' subscribed to topic 'marker_vel': timeout = 0.500000s, priority = 99
process[joy_teleop-19]: started with pid [30706]
[INFO] [1554908640.280987, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1554908640.286312606]: Topic handler 'phone' subscribed to topic 'phone_vel': timeout = 0.500000s, priority = 98
[ INFO] [1554908640.294538615]: Topic handler 'rviz_joy' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s, priority = 95
process[joystick-20]: started with pid [30754]
[ INFO] [1554908640.312931884]: Topic handler 'servoing_cmd_vel' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s, priority = 20
ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]
ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]
[ INFO] [1554908640.332062962]: Topic handler 'pause' subscribed to topic 'pause_navigation': timeout = None, priority = 100
[ INFO] [1554908640.354894020]: Topic handler 'loop_closure' subscribed to topic 'stop_closing_loop': timeout = None, priority = 200
process[image_raw_to_rect_color_relay-23]: started with pid [30865]
[ INFO] [1554908640.373952670]: Topic handler 'joystick' subscribed to topic 'joy_priority': timeout = None, priority = 100
[ERROR] [1554908640.393812243]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[tuck_arm-24]: started with pid [30929]
process[xtion/rgb/image_proc-25]: started with pid [30992]
[INFO] [1554908640.757398, 0.000000]: Waiting for play_motion...
[ INFO] [1554908640.819038431]: Loading robot model 'tiago'...
[ INFO] [1554908640.819072536]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908640.876886298]: Loading robot model 'tiago'...
[ INFO] [1554908640.876914224]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908641.009799946]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1554908641.035804518]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1554908641.035864082]: Starting scene monitor
[ INFO] [1554908641.045272992]: Listening to '/planning_scene'
[ INFO] [1554908641.045298038]: Starting world geometry monitor
[ INFO] [1554908641.050589552]: Listening to '/collision_object' using message notifier with target frame '/base_footprint '
[ INFO] [1554908641.058728509]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN] [1554908641.059263033]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ INFO] [1554908641.087715476]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1554908641.114881252]: Initializing OMPL interface using ROS parameters
[ INFO] [1554908641.196156331]: Using planning interface 'OMPL'
[ INFO] [1554908641.201600855]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1554908641.202461299]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1554908641.203252328]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1554908641.204029163]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1554908641.204413415]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1554908641.204814260]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1554908641.204854274]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1554908641.204868194]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1554908641.204886182]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1554908641.204902356]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1554908641.204919154]: Using planning request adapter 'Fix Start State Path Constraints'
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: dining_chair. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: kitchen_table. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: wardrobe. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: closet. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: bench. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: sofa. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: floor_lamp. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: floor_lamp. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_male_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_02. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_02. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_male_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[ INFO] [1554908642.595616693, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1554908642.595691679, 0.001000000]: Starting Laser Plugin (ns = /)
[ INFO] [1554908642.598577177, 0.001000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_model-4] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/spawn_model-4*.log
[ INFO] [1554908642.972783763, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1554908642.978791539, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1554908642.985660111, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1554908642.985798733, 0.001000000]: Starting gazebo_ros_control plugin in namespace:
[ INFO] [1554908642.986415024, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[FATAL] [1554908643.093328161, 0.001000000]: Failed to create robot simulation interface loader: Could not find library corresponding to plugin pal_hardware_gazebo/PalHardwareGazebo. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ INFO] [1554908643.093365643, 0.001000000]: Loaded gazebo_ros_control.
[ INFO] [1554908643.125383771, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554908643.125683805, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554908643.297308487, 0.148000000]: Physics dynamic reconfigure ready.
[ INFO] [1554908643.302152620, 0.152000000]: Physics dynamic reconfigure ready.
[ WARN] [1554908648.826317101, 5.002000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ WARN] [1554908654.976134326, 11.002000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1554908661.131156088, 17.002000000]: Action client not connected: arm_controller/follow_joint_trajectory
[ WARN] [1554908666.372238798, 22.135000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[WARN] [1554908670.336388, 26.007000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1554908670.374070, 26.045000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[bringup_controllers_spawner_imu-7] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/bringup_controllers_spawner_imu-7*.log
[bringup_controllers_spawner_ft-8] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/bringup_controllers_spawner_ft-8*.log
[ WARN] [1554908672.523182313, 28.135000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[ERROR] [1554908678.679852006, 34.135000000]: Action client not connected: torso_controller/follow_joint_trajectory
[ WARN] [1554908683.935897915, 39.246000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ WARN] [1554908690.093623676, 45.246000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ERROR] [1554908696.268743827, 51.246000000]: Action client not connected: head_controller/follow_joint_trajectory
[ WARN] [1554908701.460605809, 56.293000000]: Waiting for hand_controller/follow_joint_trajectory to come up
[ WARN] [1554908707.638973280, 62.293000000]: Waiting for hand_controller/follow_joint_trajectory to come up
[ERROR] [1554908713.809651823, 68.293000000]: Action client not connected: hand_controller/follow_joint_trajectory
[ INFO] [1554908713.916695227, 68.397000000]: Returned 0 controllers in list
[ INFO] [1554908713.967477734, 68.444000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1554908714.166848243, 68.637000000]:

********************************************************
* MoveGroup using:
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1554908714.166913494, 68.637000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1554908714.166928311, 68.637000000]: MoveGroup context initialization complete

You can start planning now!

[INFO] [1554908715.173190, 69.614000]: ...connected.
[WARN] [1554908760.407726, 113.745000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1554908760.531721, 113.867000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[default_controllers_spawner-5] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/default_controllers_spawner-5*.log
[hand_controller_spawner-9] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_controller_spawner-9*.log

I source with source /local/fcaminad/devel/tiago_public_ws/src/setup.bash
The result of the rospack plugins --attrib=plugin gazebo_ros_control seems OK:
pal_hardware_gazebo /local/fcaminad/devel/tiago_public_ws/src/pal_hardware_gazebo/pal_hardware_gazebo_plugins.xml
gazebo_ros_control /local/fcaminad/devel/tiago_public_ws/src/gazebo_ros_pkgs/gazebo_ros_control/robot_hw_sim_plugins.xml

The result of the catkin build -DCATKIN_ENABLE_TESTING=0 seems OK:
[build] Summary: All 121 packages succeeded!
[build]   Ignored:   11 packages were skipped or are blacklisted.
[build]   Warnings:  22 packages succeeded with warnings.
[build]   Abandoned: None.
[build]   Failed:    None.
[build] Runtime: 4 minutes and 23.7 seconds total.

It's weird, there are nodes not being found:

ERROR: cannot launch node of type [head_action/head_action]: can't locate node [head_action]
ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]

But are on the kinetic rosinstall file: https://github.com/pal-robotics/tiago_tutorials/blob/kinetic-devel/tiago_public.rosinstall
Please make sure you have the latest rosinstall file, that all your repositories are up to date, and run catkin build with -s so we can see a summary of what's being compiled and what's being ignored.

In a first time I started over from scratch:
I checked my install and dependencies, cleaned my catkin workspace,  made a new rosinstall and a catkin build -DCATKIN_ENABLE_TESTING=0 -s   but I still had errors.
Logs during build:
[build] Successful packages:

 [Successful] aruco
 [Successful] aruco_msgs
 [Successful] aruco_ros
 [Successful] backward_ros
 [Successful] combined_robot_hw
 [Successful] combined_robot_hw_tests
 [Successful] controller_interface
 [Successful] controller_manager
 [Successful] controller_manager_msgs
 [Successful] controller_manager_tests
 [Successful] ddynamic_reconfigure_python
 [Successful] demo_motions
 [Successful] diff_drive_controller
 [Successful] dynamic_introspection
 [Successful] effort_controllers
 [Successful] force_torque_sensor_controller
 [Successful] forward_command_controller
 [Successful] four_wheel_steering_controller
 [Successful] gazebo_dev
 [Successful] gazebo_msgs
 [Successful] gazebo_plugins
 [Successful] gazebo_ros
 [Successful] gazebo_ros_control
 [   Ignored] gazebo_ros_pkgs
 [Successful] gripper_action_controller
 [Successful] hardware_interface
 [Successful] head_action
 [Successful] hey5_description
 [Successful] imu_sensor_controller
 [Successful] joint_limits_interface
 [Successful] joint_state_controller
 [Successful] joint_torque_sensor_state_controller
 [Successful] joint_trajectory_controller
 [Successful] joy_teleop
 [Successful] key_teleop
 [Successful] look_hand
 [Successful] look_to_point
 [Successful] mode_state_controller
 [Successful] mouse_teleop
 [Successful] pal_behaviour_msgs
 [Successful] pal_carbon_collector
 [Successful] pal_common_msgs
 [Successful] pal_control_msgs
 [Successful] pal_detection_msgs
 [Successful] pal_device_msgs
 [Successful] pal_gazebo_plugins
 [Successful] pal_gazebo_worlds
 [Successful] pal_gripper
 [Successful] pal_gripper_controller_configuration
 [Successful] pal_gripper_controller_configuration_gazebo
 [Successful] pal_gripper_description
 [Successful] pal_gripper_gazebo
 [Successful] pal_hardware_gazebo
 [Successful] pal_hardware_interfaces
 [Successful] pal_interaction_msgs
 [Successful] pal_motion_model_msgs
 [   Ignored] pal_msgs
 [Successful] pal_multirobot_msgs
 [Successful] pal_navigation_msgs
 [Successful] pal_navigation_sm
 [Successful] pal_parallel_gripper_wrapper
 [Successful] pal_python
 [Successful] pal_simulation_msgs
 [Successful] pal_statistics
 [Successful] pal_statistics_msgs
 [Successful] pal_tablet_msgs
 [Successful] pal_video_recording_msgs
 [Successful] pal_vision_msgs
 [Successful] pal_visual_localization_msgs
 [Successful] pal_walking_msgs
 [Successful] pal_web_msgs
 [Successful] pal_wifi_localization_msgs
 [Successful] pal_wsg_gripper
 [Successful] pal_wsg_gripper_controller_configuration
 [Successful] pal_wsg_gripper_controller_configuration_gazebo
 [Successful] pal_wsg_gripper_description
 [Successful] pal_wsg_gripper_gazebo
 [Successful] play_motion
 [Successful] play_motion_msgs
 [Successful] play_with_sensors
 [Successful] pmb2_2dnav
 [Successful] pmb2_2dnav_gazebo
 [Successful] pmb2_bringup
 [Successful] pmb2_controller_configuration
 [Successful] pmb2_controller_configuration_gazebo
 [Successful] pmb2_description
 [Successful] pmb2_gazebo
 [Successful] pmb2_laser_sensors
 [Successful] pmb2_maps
 [   Ignored] pmb2_navigation
 [Successful] pmb2_rgbd_sensors
 [   Ignored] pmb2_robot
 [   Ignored] pmb2_simulation
 [Successful] position_controllers
 [Successful] robot_pose
 [Successful] roboticsgroup_gazebo_plugins
 [   Ignored] ros_control
 [   Ignored] ros_controllers
 [Successful] rqt_controller_manager
 [Successful] rqt_joint_trajectory_controller
 [Successful] rviz_plugin_covariance
 [Successful] say_something
 [Successful] simple_grasping_action
 [   Ignored] teleop_tools
 [Successful] teleop_tools_msgs
 [Successful] temperature_sensor_controller
 [Successful] tf_lookup
 [Successful] tiago_2dnav
 [Successful] tiago_2dnav_gazebo
 [Successful] tiago_aruco_demo
 [Successful] tiago_bringup
 [Successful] tiago_controller_configuration
 [Successful] tiago_controller_configuration_gazebo
 [Successful] tiago_description
 [Successful] tiago_description_calibration
 [Successful] tiago_gazebo
 [Successful] tiago_laser_sensors
 [Successful] tiago_maps
 [Successful] tiago_moveit_config
 [Successful] tiago_moveit_tutorial
 [Successful] tiago_multi
 [   Ignored] tiago_navigation
 [Successful] tiago_opencv_tutorial
 [Successful] tiago_pcl_tutorial
 [Successful] tiago_pick_demo
 [   Ignored] tiago_robot
 [   Ignored] tiago_simulation
 [Successful] tiago_trajectory_controller
 [Successful] transmission_interface
 [Successful] tts
 [Successful] velocity_controllers

[build] Summary: All 120 packages succeeded!
[build]   Ignored:   11 packages were skipped or are blacklisted.
[build]   Warnings:  None.
[build]   Abandoned: None.
[build]   Failed:    None.

After that I decided to use Robotpkg. Thanks to @olivier-stasse.
So I installed via apt: sudo apt install robotpkg-tiago-simulation
The basic simulation works, I can control Tiago with joystick. Now I am going to continue follow the tutorials.
Thanks @v-lopez   for your help

Hello,
Closing the issue due to inactivity.
Best Regards,
PAL Robotics Team.


Switched from "Yo" to "Oi" for testing

Checking to see whether Heroku review app process works as-advertised.

Looks like Heroku review apps are working okay.


NIL value on load

This is caused by an old version of ashita.  As mentioned in the release for 0.6.0  all versions of GlamourUI going forward require Ashita v<IP_ADDRESS> or higher.


Support ignores check

Allow ignore checks

Codecov Report

Merging #38 (43a5dd2) into main (a37c2f7) will increase coverage by 2.80%.
The diff coverage is 76.82%.

@@            Coverage Diff             @@
##             main      #38      +/-   ##
==========================================
+ Coverage   55.36%   58.17%   +2.80%
==========================================
  Files          17       17
  Lines        1257     1351      +94
==========================================
+ Hits          696      786      +90
- Misses        561      565       +4

Impacted Files
Coverage Δ

shellclear/src/bin/cmd/config.rs
0.00% <0.00%> (ø)

shellclear/src/data.rs
100.00% <ø> (ø)

shellclear/src/engine.rs
89.89% <87.27%> (+6.97%)
:arrow_up:

shellclear/src/config.rs
88.88% <87.67%> (-3.51%)
:arrow_down:

shellclear/src/exporter/table.rs
90.00% <100.00%> (+0.25%)
:arrow_up:

shellclear/src/exporter/text.rs
89.39% <100.00%> (+0.33%)
:arrow_up:

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Womanium Final Assignment - Hirad Alipanah

Submitting Womanium's Final Assignment
That's it!

Good job!
Score: 8/10.


Multi threaded version breaks on some queries (even with 1 thread)

Working on a query set among about 50 queries that work fine with the multi threaded version I found the following query that gives no results on the multi threaded version but 3580 results on a8b495b75cb62fa1d05b489c09b513c096ae7223 (just before the addition of multi threading)
PREFIX fb: <http://rdf.freebase.com/ns/>
PREFIX fbk: <http://rdf.freebase.com/key/>
PREFIX rdf: <http://www.w3.org/2000/01/rdf-schema#>

SELECT DISTINCT ?diocese_name WHERE {
  ?type rdf:label "Religious Jurisdiction"@en .
  ?diocese fb:type.object.type ?type .
  ?diocese fbk:wikipedia.en_title ?diocese_name .
}

I'm still investigating but it seems that somehow join of fixed size tables is broken.
Here is debug output from the single thread version
singlethread.txt
And from the multi thread version
multithread.txt
Apart from the more verbose output because of the LRUCache changes and it being in TRACE mode the problems seems to occur at the following point (Note the end):
Single:
DEBUG: Performing PSO scan for full relation: <http://rdf.freebase.com/ns/type.object.name>
DEBUG: Scan done, got 47,236,131 elements.
DEBUG: IndexScan result computation done.
DEBUG: Getting sub-result for Sort result computation...
DEBUG: Getting sub-results for join result computation...
DEBUG: IndexScan result computation...
DEBUG: Performing POS scan for full relation: <http://rdf.freebase.com/ns/type.object.type>
DEBUG: Scan done, got 266,316,909 elements.
DEBUG: IndexScan result computation done.
DEBUG: Join result computation...
DEBUG: Performing join between two fixed width tables.
DEBUG: A: witdth = 2, size = 266,316,909
DEBUG: B: witdth = 1, size = 3
DEBUG: Galloping case.
DEBUG: Join done.
DEBUG: Result: width = 2, size = 4,791

Multi:
DEBUG: Performing PSO scan for full relation: <http://rdf.freebase.com/ns/type.object.name>
DEBUG: Scan done, got 47,236,131 elements.
…
SCAN POS with P = "<http://rdf.freebase.com/ns/type.object.type>"
TRACE: We were the first to emplace, need to compute result
DEBUG: Performing POS scan for full relation: <http://rdf.freebase.com/ns/type.object.type>
DEBUG: Scan done, got 266,316,909 elements.
TRACE: Try to atomically emplace a new empty ResultTable
TRACE: Using key:
SCAN POS with P = "<http://www.w3.org/2000/01/rdf-schema#label>", O = ""Religious Jurisdiction"@en"
TRACE: Result already (being) computed
DEBUG: Performing join between two fixed width tables.
DEBUG: A: witdth = 2, size = 266,316,909
DEBUG: B: witdth = 1, size = 3
DEBUG: Galloping case.
DEBUG: Join done.
DEBUG: Result: width = 2, size = 0

Looking at the code there is a somewhat dangerous looking const-removal in the galloping code here, especially since the code is called with _fixedSizeData casted to std::vector<std::array> here but I'm not sure about the root cause yet

So I think the const_cast in the Join is somewhat fragile and might not be compatible with the multi threading approach but I really can't see how this breaks the case with a single thread. @floriankramer any ideas?
That said those whole shenanigans with _fixedSizeData vs _varSizeData looks like premature optimization to me and I'd like to know what kind of performance benefit this really brings (considering we are doing slow IO anyway) @Buchhold do you have performance data on this? The cost in terms of maintainability is certainly quite significant.

This depends, but extensive experiments have been performed before I initially implemented it with the distinction. The speedup for joins once all data is in memory was significant. I don't have archived results but the code should be in the Broccoli repository somewhere (I think the folder is called "trials" or something like that)
Sure, if you only consider benchmarks that have to read everything from disk (e.g. every queries touches completely different relations), the speedup may be rather insignificant. But there are many cases where that isn't the bottleneck. To give a few examples:
(1) The initial motivation: Broccoli-style queries. Some lists (just think of type.object.name) are taken from cache across queries and intersected / merged with tiny lists that are read freshly. More than that: queries are built incrementally.
(2) Text operations that become leaves in the query tree. Writing variable size results somehow lead
(3) Queries building cartesian products and thus producing long outputs form rather small (disk-read) input lists.
I'm sure there are more cases, I cannot think of right now. If anything one COULD re-evaluate the feature and maybe hope that compiler optimizations for fixed-sized but not explicitly marked std::vectors became even better and somehow the feature has less impact overall now.
Anyway, I would disagree that the feature optimizes operations that never take a considerable amount of time.

PS: Unlike the split, though, the changing the sentinels-based intersections (and thus the const cast) to do classic bounds checking, could maybe be accomplished without significant time lost

Interesting, yes I realize that there are significant in-memory performance considerations, still the impact on maintainability seems very very high. That said std::vector does have an additional indirection and probably much worse memory access patterns as they aren't linear in memory. The latter should be fixable with a special allocator though.
Anyway back on topic, I've tried adding debug code here to print the 0-th values (both via the const and non-const refs). And it's really weird:
Single:
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:07.679        - DEBUG: Performing POS scan for full relation: <http://rdf.freebase.com/ns/type.object.type>
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: Scan done, got 266,316,909 elements.
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: IndexScan result computation done.
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: Join result computation...
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: Performing join between two fixed width tables.
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: A: witdth = 2, size = 266,316,909
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: B: witdth = 1, size = 3
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: A[0][I] 287,364,587
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: B[0][J] 344,407,827
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: l1[0][I] 287,364,587
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: l2[0][J] 344,407,827
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.074        - DEBUG: Galloping case.
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.075        - DEBUG: Join done.
May 23 18:32:14 vulcano ServerMain[1876]: Wed May 23 18:32:14.075        - DEBUG: Result: width = 2, size = 4,791

Multi:
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: Performing join between two fixed width tables.
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: A: witdth = 2, size = 266,316,909
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: B: witdth = 1, size = 3
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: A[0][I] 287,364,587
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: B[0][J] 344,407,827
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: l1[0][I] 287,364,587
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: l2[0][J] 344,407,827
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: Galloping case.
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: Join done.
May 23 18:05:07 vulcano ServerMain[32559]: Wed May 23 18:05:07.352        - DEBUG: Result: width = 2, size = 0

so the data looks to be at least partially the same and not completely garbage and yet the Join yields no results in the multi thread case. I also tried forcing the non-galloping case this also doesn't yield a result. Interestingly when debugging that it does find the sentinal value.

I did some testing with the freebase dataset and the query, and was able to reproduce the bug.
It appears that the data returned by the IndexScan for the type predicate is mostly zeroes, apart from a small part at the beginning of the vector.
Sometimes the query returns the correct results though, independent of any modifications to the code I made during testing. so something outside of QLever must be influencing this (maybe something caching related?).

It appears that pread does not read the entire object.type relation, leaving part of the ResultTable unfilled as the File class currently does not check the return value of the pread call.


Create 404 default page

Well, I thought there was no 404 page, but @RozanskiP  had created it. So I have modified it and I Added a fix for github pages
Fix 404 github pages
I don't know if it will work in production.


Adhoc Invites through Report and Dashboard Sharing.

In Section - https://docs.microsoft.com/en-us/power-bi/admin/service-admin-azure-ad-b2b#invite-guest-users
it is indicated that the users are able to send adhoc invites through "Report / Dashboard Sharing", Per the new sharing experience this is not allowed any more. Please remove the option from the documentation to avoid any confusion.
Please take a look the the documentation section here - https://docs.microsoft.com/en-us/power-bi/collaborate-share/service-share-dashboards#link-settings
Excerpt below from above -
Specific people
This type of link allows specific people or groups to access the report. If you select this option, enter the names or email addresses of the people you wish to share with. With this link type you can share to guest users in your organization’s Azure Active Directory (AAD), but you cannot share to external users who are not guests in your organization.

Document Details
⚠ Do not edit this section. It is required for docs.microsoft.com ➟ GitHub issue linking.

ID: 725c3bff-b250-c882-6f2b-1f2cb7f00341
Version Independent ID: f48832e7-8fc5-498a-8522-435a8ce42129
Content: Distribute content to external guest users with Azure AD B2B - Power BI
Content Source: powerbi-docs/admin/service-admin-azure-ad-b2b.md
Service: powerbi
Sub-service: powerbi-admin
GitHub Login: @kfollis
Microsoft Alias: kfollis

To be more specific, we in the new experience adhoc invites need to be sent through the direct access only. This is not documented.

Thanks for you comments, @raghu4sangeeth. I will review the document and make necessary changes.

Hi @raghu4sangeeth, I have passed your comments along to the product team and will update the docs if necessary. Thanks!


UI: Add support for disabling network-specific txs

this pr enables easy disabling of network-specific transactions.
hook: useDisableTxs.ts
config: disabled.ts
env vars: REACT_APP_DISABLED_ROUTES, REACT_APP_WARNING_ROUTES
the REACT_APP_WARNING_ROUTES env var is optional. the default behavior is to disable transactions listed in REACT_APP_DISABLED_ROUTES.
syntax: [source-slug]:[destination-slug] (for multiple pairs, string is split by ,)
ex: REACT_APP_DISABLED_ROUTES=polygon:arbitrum,optimism:gnosis
to disable all chains for source or destination, the slug can be replaced with all
ex. REACT_APP_DISABLED_ROUTES=polygon:all,all:polygon

minor bug: The error messages says from All but should say from Gnosis here


is there anyway to shorten url?

Some url is very long, I'm looking for another parameter to shorten url in characters length, but still pass full url as text parameter. Sometimes title bottom margin is huge to fetched picture below it.
Thank you for your work

done by previewbuilder: (p0,p1) { return Widget }

done by previewbuilder: (p0,p1) { return Widget }


Move KubeRay CR and CRB to ODH/Kuberay repo

WHY
Follow up from #337. Once we move to an aggregated cluster role it will make more sense for these to be in the ODH/Kuberay repo.
WHAT
What is being asked for?
Move the files added in this PR to the ODH/Kuberay repo.
TESTS
N/A
DONE
The ClusterRole and CLusterRoleBinding have been moved our of the CodeFlare Operator repo to the ODH Kuberay repo.

As discussed with @asm582 @tedhtchang we may think about adding the aggregated cluster role in upstream Kuberay.


Implement TicketEvent Notifications

Implement new Notifications system
New system will not be tied directly to email delivery. Instead, notifications are recorded for events that occur, and can support a variety of delivery mechanisms:

Alert flag to indicate that the user should be alerted that the notification exists
Read flag to indicate if the user has viewed an event notification
Push flag to indicate that the notification may need to be delivered by a push mechanims (sms, email, etc.)

The actual management of push notifications will be handled by a different sub-system.

Hi StephenRedd ,
I can't find Database in your project.
Thanks

For TD 2.5, it's created at runtime by entity framework migrations. For TD 2.1x, it's in the app_data folder in the web project.
--Stephen M. Redd

From<EMAIL_ADDRESS>Sent: ý3/ý15/ý2015 2:24 AM
To<EMAIL_ADDRESS>Cc: Stephen<EMAIL_ADDRESS>Subject: Re: [TicketDesk] Implement TicketEvent Notifications (#1)
Hi StephenRedd ,
I can't find Database in your project.
Thanks
—
Reply to this email directly or view it on GitHubhttps://github.com/StephenRedd/TicketDesk/issues/1#issuecomment-80876462.


tf.math.cumsum() propagates Inf or NaN when axis is ragged

Click to expand!
Issue Type
Bug
Source
binary
Tensorflow Version
tf 2.11
Custom Code
No
OS Platform and Distribution
Linux Ubuntu 22.04
Mobile device
No response
Python version
3.10.6
Bazel version
No response
GCC/Compiler version
No response
CUDA/cuDNN version
CUDA 11.7, cuDNN 8.2.4
GPU model and memory
RTX 3090 24GiB
Current Behaviour?
When using `tf.math.cumsum(ragged_tensor, axis=axis)`, if `axis` is ragged and `ragged_tensor` contains `inf` or `nan`, the output will be `nan` for *all* the following flat values, even for those that are not supposed to be summed with those `nan`s. This doesn't happen for regular `Tensor`s.

Moreover, the behavior persists when `exlusive=True` or `reverse=True` is passed to `cumsum()`. In the latter case, additional `nan`s occur before the problematic value, instead of after it.

Standalone code to reproduce the issue
import tensorflow as tf
import numpy as np

# RaggedTensor without NaNs or Infs
rt = tf.ragged.constant([[3, 1, 4], [1, 5], [9, 2], [6, 5, 3]], dtype=tf.float32)
print('tf.math.cumsum(rt, axis=-1) = ', tf.math.cumsum(rt, axis=-1))

# RaggedTensor with Inf
rt2 = tf.ragged.constant([[3, 1, 4], [1, np.inf], [9, 2], [6, 5, 3]], dtype=tf.float32)
print('tf.math.cumsum(rt2, axis=-1) = ', tf.math.cumsum(rt2, axis=-1))
print('tf.math.cumsum(rt2.to_tensor(), axis=-1) = ', tf.math.cumsum(rt2.to_tensor(), axis=-1))
print('tf.math.cumsum(rt2, axis=-1, exclusive=True) = ', tf.math.cumsum(rt2, axis=-1, exclusive=True))
print('tf.math.cumsum(rt2.to_tensor(), axis=-1, exclusive=True) = ', tf.math.cumsum(rt2.to_tensor(), axis=-1, exclusive=True))
print('tf.math.cumsum(rt2, axis=-1, reverse=True) = ', tf.math.cumsum(rt2, axis=-1, reverse=True))
print('tf.math.cumsum(rt2.to_tensor(), axis=-1, reverse=True) = ', tf.math.cumsum(rt2.to_tensor(), axis=-1, reverse=True))

"""Expected output
tf.math.cumsum(rt, axis=-1) =  <tf.RaggedTensor [[3.0, 4.0, 8.0], [1.0, 6.0], [9.0, 11.0], [6.0, 11.0, 14.0]]>
tf.math.cumsum(rt2, axis=-1) =  <tf.RaggedTensor [[3.0, 4.0, 8.0], [1.0, inf], [nan, nan], [nan, nan, nan]]>
tf.math.cumsum(rt2.to_tensor(), axis=-1) =  tf.Tensor(
[[ 3.  4.  8.]
 [ 1. inf inf]
 [ 9. 11. 11.]
 [ 6. 11. 14.]], shape=(4, 3), dtype=float32)
tf.math.cumsum(rt2, axis=-1, exclusive=True) =  <tf.RaggedTensor [[0.0, 3.0, 4.0], [0.0, 1.0], [nan, nan], [nan, nan, nan]]>
tf.math.cumsum(rt2.to_tensor(), axis=-1, exclusive=True) =  tf.Tensor(
[[ 0.  3.  4.]
 [ 0.  1. inf]
 [ 0.  9. 11.]
 [ 0.  6. 11.]], shape=(4, 3), dtype=float32)
tf.math.cumsum(rt2, axis=-1, reverse=True) =  <tf.RaggedTensor [[nan, nan, nan], [inf, inf], [11.0, 2.0], [14.0, 8.0, 3.0]]>
tf.math.cumsum(rt2.to_tensor(), axis=-1, reverse=True) =  tf.Tensor(
[[ 8.  5.  4.]
 [inf inf  0.]
 [11.  2.  0.]
 [14.  8.  3.]], shape=(4, 3), dtype=float32)
"""

Relevant log output
No response

My guess is that when doing cumsum on a ragged dimension, the summation is actually somehow carried out on the entirety of flat values, and then some subtractions based on row_splits turn the long cumsum list to the result at each dimension. To explain with an example:
rt = tf.ragged.constant([[3, 1, 4], [1, 5], [9, 2], [6, 5, 3]], dtype=tf.float32)
# flat values [3, 1, 4, 1, 5, 9, 2, 6, 5, 3]
# row splits [0, 3, 5, 7, 10]

tf.math.cumsum(rt, axis=-1)
# first step: cum sum all flat values [3, 4, 8, 9, 14, 23, 25, 31, 36, 39]
# second step: for each row, subtract the last element of the previous row
# [3, 4, 8], [9-8, 14-8], [23-14, 25-14], [31-25, 36-25, 39-25]
# => [3, 4, 8], [1, 6], [9, 11], [6, 11, 14]

In this way, we get inf - inf => nan when an inf appears.

Hi again,
Any updates? I would also be interested in knowing a suggested workaround that doesn't require calling rt.to_tensor().

@MKimiSH I tried to replicate the issue on colab using TF v2.11, and didn't face the error reported.
Please find the gist here and let us know if I have missed something to replicate the issue.
Thank you!

@MKimiSH I tried to replicate the issue on colab using TF v2.11, and didn't face the error reported. Please find the gist here and let us know if I have missed something to replicate the issue. Thank you!

Thanks for looking into it. It looks like you got the same output as I did, actually confirming the bug.
I think I was not using the term "expected output" correctly, the "expected output" written in the original description is the actual buggy output. I updated the issue, renaming "expected output" to "actual output" and inserted a new "expected output" paragraph with reference to the non-ragged tensor operation output.

@sachinprasadhs I was able to replicate the issue, please find the attached gist here.
Thank you!

Hi,
Thank you for opening this issue. Since this issue has been open for a long time, the code/debug information for this issue may not be relevant with the current state of the code base.
The Tensorflow team is constantly improving the framework by fixing bugs and adding new features. We suggest you try the latest TensorFlow version with the latest compatible hardware configuration which could potentially resolve the issue. If you are still facing the issue, please create a new GitHub issue with your latest findings, with all the debugging information which could help us investigate.
Please follow the release notes to stay up to date with the latest developments which are happening in the Tensorflow space.


space setting

just a syntactical change

Codecov Report

Merging #1188 into master will increase coverage by 0.71%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #1188      +/-   ##
==========================================
+ Coverage   69.37%   70.09%   +0.71%
==========================================
  Files         115      116       +1
  Lines        6241     6366     +125
  Branches      756      777      +21
==========================================
+ Hits         4330     4462     +132
+ Misses       1743     1741       -2
+ Partials      168      163       -5

Impacted Files
Coverage Δ

saleor/discount/models.py
88.95% <ø> (ø)
:arrow_up:

saleor/order/emails.py
100% <0%> (ø)

saleor/order/models.py
92.85% <0%> (+5.4%)
:arrow_up:

Continue to review full report at Codecov.

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@imgsingh Thank you for your contribution!


fix(css):  missing css in lib mode

Description

fix: #10137
Additional context

What is the purpose of this pull request?

[x] Bug fix
[ ] New Feature
[ ] Documentation update
[ ] Other

Before submitting the PR, please make sure you do the following

[x] Read the Contributing Guidelines.
[x] Read the Pull Request Guidelines and follow the Commit Convention.
[x] Check that there isn't already a PR that solves the problem the same way to avoid creating a duplicate.
[x] Provide a description in this PR that addresses what the PR is solving, or reference the issue that it solves (e.g. fixes #123).
[x] Ideally, include relevant tests that fail without this PR but pass with it.

Thanks!

ok


Write tests for each step in the data workflow

What should we add?
Need tests for each of the following

[x] validate source and destination
[x] download
[x] upload
[ ] query workflows
[x] query single workflow
[x] check if workflow exists
[x] return workflow

Describe alternatives you've considered.
No response

Iceboxing this awaiting design changes per @kessler-frost and @AlejandroEsquivel

The changes that we made were around the endpoints of the Data Component / Service, namely we're assuming the Data component will "own" the results object db.
As a result of this, other components / services will need to query the Data Service to fetch ("download") the Result object,  POST ("upload") the Result object or PUT ("update") the Result object. Hence this is a restful approach to the Results resource.
This is essentially the same as the diagram just with the explicit mention of all CRUD operations on the result object (POST, PUT).
I'm not totally sure if the /download and /upload endpoints will be deprecated as a result or if they are meant to be general purpose to store other objects besides just the Result object, will need to defer that to @wjcunningham7  for confirmation.
The 307-os-skeleton branch on the covalent repo has the most up-to-date api specs (wip) under the refactor folder.

Summarizing the current state of the tests;
DONE

GET /fs/download/ https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/data/tests/main_test.py#L46
POST /fs/upload/ https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/data/tests/main_test.py#L28
LocalStorageBackend.get() https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/data/tests/app/core/localstoragebackend_test.py#L32
LocalStorageBackend.put() https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/data/tests/app/core/localstoragebackend_test.py#L37
GET /workflow/results/{MOCK_DISPATCH_ID} https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/results/tests/main_test.py#L37

IN PROGRESS

POST /workflow/results https://github.com/AgnostiqHQ/covalent/blob/i-146/refactor/results/tests/main_test.py#L52 (this test currently hangs and needs further debugging)

TODO

PUT /workflow/results/{MOCK_DISPATCH_ID}
Database.value
StorageBackend and MinioStorageBackend
internal functions?

Does StorageBackend need tests as an abstract class?

Does StorageBackend need tests as an abstract class?

I'm gonna say no

Some notes on the failing POST /workflow/results test:
Uploading the results pickle file fails at this line, which unpickles the file to extract the dispatch_id from the result object. Unfortunately, this requires the results service to satisfy the module dependencies of Result.lattice. In the test, the lattice depends on sklearn, which is not installed in the results service's environment.
Is it possible to avoid unpickling the result object by intermediate services? Or is there an alternative to cloudpickle that doesn't try to import all of the module dependencies of a pickle file?

@cjao how is this going? do you want me to keep going on it or should I reassign it to you?

I can finish the remaining tests.


Add style option AlignConsecutiveMacros to clang-format

There's a patch queued on LLVM's Phabricator on that implements an AlignConsecutiveMacros style option. This option is extremely useful in codebases, such as orbital-qemu that contain lots of aligned consecutive macros, as without it, clang-format will mess up the source files.
The original patch didn't pass the review and the patch author didn't update it afterwards. The goal here is fixing the patch and getting this feature merged into clang. Link: https://reviews.llvm.org/D28462.

There's a bounty available for solving this issue:
https://www.bountysource.com/issues/68844865-add-style-option-alignconsecutivemacros-to-clang-format

Bounty locked to @VelocityRa. There's currently organizational issues at clang-format [1], which are preventing his patch from being even reviewed. If this situation doesn't change by March 31th, this issue will be closed and the bounty will be paid on the same day.
[1] https://reviews.llvm.org/D28462#1405360

Bounty awarded to @VelocityRa. His patch works flawlessly and is available at:
https://github.com/mydeveloperday/clang-experimental/releases
Given the terrible experience with LLVM maintainers, there will likely no future bounties on external issues. And given high Bountysource fees, there will be likely no unnecessary intermediaries in future transactions.


[Exceptions] Add missing space in PlainHandler render before "in"

Q
A

Bugfix?
✔

Breaks BC?
❌

New feature?
❌

Before and after, it wrote into snapshot like the following diff:
-Undefined variable $undefinedin /Users/samsonasik/www/spiral-app/app/src/Controller/HomeController.php:36
+Undefined variable $undefined in /Users/samsonasik/www/spiral-app/app/src/Controller/HomeController.php:36

Before

After

so the $undefined needs space between message and the append description "in /path/to/file/path.php"

@samsonasik Hi, thank you for your PR! Could you please provide tests with this fix?

@butschster done https://github.com/spiral/framework/pull/468/commits/f2c6729f4a6803aaf63d238cfc3c3517458f9f0d

@butschster I updated psalm config and test to make it work in CI, could you restart build? Thank you.

Thank you @samsonasik for contribution! We are looking forward new PRs from you :)


Watch & Duplicate buttons should not be in a button group

It doesn't make sense that Watch and Duplicate should be a button group since they do not have any relationship with each other. UI Guide

@lbanner should I go ahead with this?

If the purpose behind making these two buttons into a button group was to minimize the amount of individual buttons, then I would say that it makes more sense for the Add to Dashboard button and Watch button to be in a button group. Otherwise, three individual buttons works!

@Johnetordoff -- Yes -- can you post screenshot of proposed change in buttons/UI when you have it? Thanks.

How's this?


Question: has anyone used chrome-aws-lambda with chrome-remote-interface instead of puppeteer?

I'm trying to port my project from serverless-chrome to chrome-aws-lambda because serverless-chrome no longer works with node 10 + Amazon Linux 2 (see issue: https://github.com/adieuadieu/serverless-chrome/issues/203).
Anyways, my project uses chrome-remote-interface and not puppeteer and it would be awesome I didn't have to port things to puppeteer and I could just reuse my chrome-remote-interface code.
Has anyone done this? I'm sure it's doable but just not sure how I should go about it.

@renschler see about running locally, otherwise chromium.executablePath will return null and there's no .then on null :)
Something like this should work:
const Chrome = require('chrome-remote-interface')
const chromium = require('chrome-aws-lambda')
const { spawn } = require('child_process')

const options = chromium.args.concat(['--remote-debugging-port=9222'])

chromium.executablePath.then(path => {
  chrome = spawn(path, options)
  chrome.stdout.on('data', data => console.log(data.toString()))
  chrome.stderr.on('data', data => console.log(data.toString()))

  Chrome().then(client => {
    const {Emulation, Network, Page, Runtime, DOM, Console} = client
  })
})

thank you! I'll try it out

Yes, exactly @extraordinaire that should do it - thanks for stepping in! :smiley: :+1:


simplified pagination

More info TK - not sure if this should replace existing pagination or become a new component...
mock from @nataliamarmolejo :

This is the one we are going with:

marking chapstick dependency to update current pagination usage:
templates/handlebars/account/money/transactions.hbs
templates/handlebars/account/money/transactionsPagination.hbs
templates/handlebars/util/pagination.hbs
templates/mustache/dialogs/photoPicker/photos.mustache
templates/mustache/widgets/pagination.mustache

fixed in develop
3013b94c6678de10654a2bb85d75a62a0cc2f717


ICRC-25: separate icrc3x_canister_calls

Dear @plitzenberger,
In order to potentially merge your code in this open-source repository and therefore proceed with your contribution, we need to have your approval on DFINITY's CLA.
If you decide to agree with it, please visit this issue and read the instructions there. Once you have signed it, re-trigger the workflow on this PR to see if your code can be merged.
— The DFINITY Foundation


DBZ-4077 Expose the transaction metadata topicname as a config

DBZ-4077 Adding the transaction metadata topicname as a Common connector config

Do you see any negative impact of adding a third transform to the overall performance...

In general SMTs are meant for stacking, so I think it would be ok.
That said, as @jpechane rightfully pointed out, we also allow for adjusting heartbeat topic names, so I guess I have a hard case to fight back on adding the same for transaction topics. So we probably should go with this PR.

Do you see any negative impact of adding a third transform to the overall performance...

In general SMTs are meant for stacking, so I think it would be ok.
That said, as @jpechane rightfully pointed out, we also allow for adjusting heartbeat topic names, so I guess I have a hard case to fight back on adding the same for transaction topics. So we probably should go with this PR.

Yeah that was also my thinking, it would be good to have internal topics configurable instead of applying topic transforms

@jpechane can you approve running the git workflows. Thanks!


Feature/multi task

Updates

Generalized CheckpointCallback to save arbitrary checkpoint dictionaries stored in the logs.
Added model property to VAE class to handle DDP model wrapper.
Updated VAE to work with new CheckpointCallback.


false positive on parameter reference

See this template for repro: https://github.com/Azure/azure-quickstart-templates/tree/master/101-logic-app-create
The testuri parameter is flagged as not being used but it is used in the workflow definition

I found the same today. Do you want a hand to fix it?

Please ;)

The real issue is in fact that the ARM template parameter is named the same as the WorkFlow parameter (Logic App).
So because the language used for ARM templates and the language used for Logic App resembles on so many levels, including parameters, the regex is getting false positives.
From a deployment perspective, the workflow is a bit of wild horse. It is fully supported that we use a ARM parameter inside the workflow definition, while also defining workflow parameters, that we use later in the workflow definition.
When referencing workflow parameter, they must always by enclosed in double quotes, and a @ character, and sometimes inside a set of brackets {}, depending on how advanced the expression is.
Maybe a solution to be to write a regex that will ignore the following:
"@parameters('ParmName')"
"@funtion1(parameters('ParmName'))"
"@{parameters('ParmName')}"
"@{function1(parameters('ParmName'))}"
funtion1 is just to show that there are several builtin functions in the workflow definition that can consume the parameter value.
"@float(string(parameters('ParmName')))" is a valid statement.
"adfasdf@{float(string(parameters('ParmName')))}adsfaf" is a valid statement.

Looking a bit more into the regex, as there are 2 regex in play here:
$exprStrOrQuote = [Regex]::new('(?<!\)[["]', 'RightToLeft')
This is the just saying: Find [ or ", from right to left. If I change it to: $exprStrOrQuote = [Regex]::new('(?<!\)[["@]', 'RightToLeft'), it seems in my testing that it solves the issue.
I'll do a PR right away and let you take it for a spin.

Ok, interesting revelations from #212...  TLDR;

The syntax of @parameters() or @something(parameters() should not be counted as a reference of an ARM template parameter.
the current test is throwing on any invalid reference() even if there are valid references - that's the current design but a discussion of whether it's correct is warranted
if the current design is correct (and we should throw on any invalid reference even when there are valid) then we have to figure how to except certain cases if and only if there is also valid reference from ARM.

I'm on team "Throw on any invalid" references.
If I'm going to invest time into arm-ttk on my projects and we want people to use unit tests like this, it need to keep the bar high.
If people feel the bar is to high, they can either skip the test or we could have 2 versions of it: Strict (Throw on any invalid) or Atleast-Once (If correct is found, skip the testing).

@bmoore-msft 👍 The specific case looks like something we can workaround with a lookbehind.  The more general case we could approach in the same sort of way as we approach avoiding inner scope.

@bmoore-msft It appears this QuickStart sample no longer exists.  Do we have an alternative we'd like to include in InnerTemplates testing?

It was moved here:  https://github.com/Azure/azure-quickstart-templates/tree/master/quickstarts/microsoft.logic/logic-app-create

@bmoore-msft : I'm happy to report this quickstart longer has any issues after the innerTemplates changes.

@Splaxi - lmk if you still run into this on the latest bits...


Dead lock still exists in vfnet_head.py

Thanks for your error report and we appreciate it a lot.
Checklist

I have searched related issues but cannot get the expected help.
I have read the FAQ documentation but cannot get the expected help.
The bug has not been fixed in the latest version.

Describe the bug
Whiling training vfnet with multiple-GPU and  filter_empty_gt=False, it still possible to meet deadlock.
Reproduction

What command or script did you run?

bash dist_train.sh vfnet_config.py 8

Did you make any modifications on the code or config? Did you understand what you have modified?

Yes

What dataset did you use?

voc+custom
Environment

Please run python mmdet/utils/collect_env.py to collect necessary environment information and paste it here.
You may add addition that may be helpful for locating the problem, such as

How you installed PyTorch [e.g., pip, conda, source]
Other environment variables that may be related (such as $PATH, $LD_LIBRARY_PATH, $PYTHONPATH, etc.)

Error traceback
If applicable, paste the error trackback here.
A placeholder for trackback.

Bug fix
https://github.com/open-mmlab/mmdetection/blob/a2d9047e9a3d70430011895e62764372b3780bc5/mmdet/models/dense_heads/vfnet_head.py#L428
guess should modify this line.

Hi @zlin3000 Thank you for your advice. I will fix it.


Fix onSubmitEditing dispatch behavior with blurOnSubmit/multiline combinations.

Fixes https://github.com/facebook/react-native/issues/15863 on master. Behavior of onSubmitEditing is now consistent between iOS and Android. Tapping the submit button in a TextInput dispatches the event precisely when doing so does not make a newline (when blurOnSubmit is true or multiline is false).
Test Plan

Run this app on iOS and Android:

// @flow

import React, { Component } from 'react';
import {
  StyleSheet,
  TextInput,
  View
} from 'react-native';

type State = {
  toggled: boolean
};

type Props = {
  blurOnSubmit: boolean,
  multiline: boolean
};

class ToggleColorInput extends Component<Props, State> {
  state: State = {
    toggled: false
  };

  props: Props;

  toggle = () => {
    this.setState({
      toggled: !this.state.toggled
    });
  }

  render() {
    return (
      <TextInput
        blurOnSubmit={this.props.blurOnSubmit}
        multiline={this.props.multiline}
        onSubmitEditing={this.toggle}
        style={[styles.textInput, {backgroundColor: this.state.toggled ? 'blue' : 'azure'}]}
        underlineColorAndroid='transparent'
      />
    )
  }
}

export default class App extends Component<{}> {
  render() {
    return (
      <View>
        <ToggleColorInput blurOnSubmit={true} multiline={true} />
        <ToggleColorInput blurOnSubmit={true} multiline={false} />
        <ToggleColorInput blurOnSubmit={false} multiline={true} />
        <ToggleColorInput blurOnSubmit={false} multiline={false} />
      </View>
    );
  }
}

const styles = StyleSheet.create({
  textInput: {
    height: 75,
    borderWidth: 1,
    borderColor: 'black'
  }
});

You see four TextInputs, with each combination of the blurOnSubmit and multiline properties. For each TextInput, type some text and tap the submit button.
The TextInputs in this test will toggle background color when they emit an onSubmitEditing event. Verify the following behavior on each platform:

blurOnSubmit && isMultiline => Submit event emitted, blurred, no newline inserted
blurOnSubmit && !isMultiline => Submit event emitted, blurred
!blurOnSubmit && isMultiline => Newline inserted
!blurOnSubmit && !isMultiline => Submit event emitted

@Adam0000 Oh, I am sorry, I just remember that there are cases when product developers want to receive onSubmit event even in !blurOnSubmit && isMultiline case, so iOS implementation is correct from this prospective.
Sorry again, this is really tricky, I already spent many-many days improving this on both platforms and... it is still imperfect. :(

@shergin I've made the appropriate changes now and updated the test plan.