I am working with ROS INDIGO, a Sawyer robot (Rethink robotics), a Kinect v1, and MoveIt.
I am working on a Human-Robot Collaboration project.
After installing MoveIt, I have edited "camera_link_pose" from sawyer_moveit.launch to suit my base_to_camera transform.
When I run:
roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true
Rviz appears, everything works except that the octomap isn't displayed:
rviz_capture.png
Here is what I have in the terminal:
~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true
... logging to /home/sawyer/.ros/log/33db5810-3ace-11e7-860e-1866da494b18/roslaunch-sawyer-HP-Compaq-Pro-6300-SFF-20862.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://169.254.5.155:38982/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/camera/camera_nodelet_manager/num_worker_threads: 4
* /move_group/camera/depth_rectify_depth/interpolation: 0
* /move_group/camera/depth_registered_rectify_depth/interpolation: 0
* /move_group/camera/disparity_depth/max_range: 4.0
* /move_group/camera/disparity_depth/min_range: 0.5
* /move_group/camera/disparity_registered_hw/max_range: 4.0
* /move_group/camera/disparity_registered_hw/min_range: 0.5
* /move_group/camera/disparity_registered_sw/max_range: 4.0
* /move_group/camera/disparity_registered_sw/min_range: 0.5
* /move_group/camera/driver/data_skip: 0
* /move_group/camera/driver/debug: False
* /move_group/camera/driver/depth_camera_info_url:
* /move_group/camera/driver/depth_frame_id: camera_depth_opti...
* /move_group/camera/driver/depth_registration: False
* /move_group/camera/driver/device_id: #1
* /move_group/camera/driver/diagnostics_max_frequency: 30.0
* /move_group/camera/driver/diagnostics_min_frequency: 30.0
* /move_group/camera/driver/diagnostics_tolerance: 0.05
* /move_group/camera/driver/diagnostics_window_time: 5.0
* /move_group/camera/driver/enable_depth_diagnostics: False
* /move_group/camera/driver/enable_ir_diagnostics: False
* /move_group/camera/driver/enable_rgb_diagnostics: False
* /move_group/camera/driver/rgb_camera_info_url:
* /move_group/camera/driver/rgb_frame_id: camera_rgb_optica...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/controller_manager_name: simple_controller...
* /move_group/head/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/move_group/octomap_frame: camera_link
* /move_group/move_group/octomap_resolution: 0.02
* /move_group/move_group/point_subsample: 1
* /move_group/move_group/sensors: [{'max_range': 5....
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /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/right_arm/planner_configs: ['SBLkConfigDefau...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/use_controller_manager: True
* /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/head/kinematics_solver_attempts: 3
* /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/head/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10
* /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5
* /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88
* /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5
* /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678
* /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0
* /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996
* /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0
* /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996
* /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0
* /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776
* /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0
* /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776
* /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True
* /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True
* /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0
* /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316
* /robot_description_semantic: <?xml version="1....
* /rosdistro: indigo
* /rosversion: 1.11.21
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver: kdl_kinematics_pl...
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_attempts: 3
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_search_resolution: 0.005
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_timeout: 0.005
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver: kdl_kinematics_pl...
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_attempts: 10
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_search_resolution: 0.005
* /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_timeout: 0.005
NODES
/move_group/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_hw_metric_rect (nodelet/nodelet)
depth_registered_metric (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)
/move_group/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
camera_link_broadcaster (tf/static_transform_publisher)
/
move_group (moveit_ros_move_group/move_group)
rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334 (rviz/rviz)
ROS_MASTER_URI=http://021611CP00073.local:11311
core service [/rosout] found
process[move_group/camera/camera_nodelet_manager-1]: started with pid [20874]
process[move_group/camera/driver-2]: started with pid [20875]
process[move_group/camera/rgb_debayer-3]: started with pid [20876]
process[move_group/camera/rgb_rectify_mono-4]: started with pid [20877]
process[move_group/camera/rgb_rectify_color-5]: started with pid [20878]
process[move_group/camera/ir_rectify_ir-6]: started with pid [20879]
process[move_group/camera/depth_rectify_depth-7]: started with pid [20883]
process[move_group/camera/depth_metric_rect-8]: started with pid [20890]
process[move_group/camera/depth_metric-9]: started with pid [20891]
process[move_group/camera/depth_points-10]: started with pid [20902]
process[move_group/camera/register_depth_rgb-11]: started with pid [20906]
process[move_group/camera/points_xyzrgb_sw_registered-12]: started with pid [20907]
process[move_group/camera/depth_registered_sw_metric_rect-13]: started with pid [20919]
process[move_group/camera/depth_registered_rectify_depth-14]: started with pid [20923]
process[move_group/camera/points_xyzrgb_hw_registered-15]: started with pid [20926]
[ INFO] [1495016462.598547792]: Initializing nodelet with 4 worker threads.
process[move_group/camera/depth_registered_hw_metric_rect-16]: started with pid [20927]
process[move_group/camera/depth_registered_metric-17]: started with pid [20941]
process[move_group/camera/disparity_depth-18]: started with pid [20946]
process[move_group/camera/disparity_registered_sw-19]: started with pid [20948]
process[move_group/camera/disparity_registered_hw-20]: started with pid [20952]
process[move_group/camera_base_link-21]: started with pid [20953]
process[move_group/camera_base_link1-22]: started with pid [20965]
process[move_group/camera_base_link2-23]: started with pid [20969]
process[move_group/camera_base_link3-24]: started with pid [20980]
process[move_group/camera_link_broadcaster-25]: started with pid [20984]
process[move_group-26]: started with pid [20986]
process[rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334-27]: started with pid [20993]
[ INFO] [1495016462.693509168]: Number devices connected: 1
[ INFO] [1495016462.693602953]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366907653103A'
[ INFO] [1495016462.694673734]: Searching for device with index = 1
(rviz:20993): Gtk-WARNING **: Unable to locate theme engine in module_path: "adwaita",
[ INFO] [1495016462.750378327]: rviz version 1.11.15
[ INFO] [1495016462.750424452]: compiled against Qt version 4.8.6
[ INFO] [1495016462.750436423]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1495016462.778280205]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1495016462.778359537]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00366907653103A'
[ INFO] [1495016462.779418408]: Loading robot model 'sawyer'...
[ INFO] [1495016462.859296395]: Stereo is NOT SUPPORTED
[ INFO] [1495016462.859370647]: OpenGl version: 3 (GLSL 1.3).
[ WARN] [1495016462.895187551]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1495016462.938451761]: Loading robot model 'sawyer'...
[ INFO] [1495016462.996939730]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1495016463.005977717]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1495016463.006036440]: Starting scene monitor
[ INFO] [1495016463.016688848]: Listening to '/planning_scene'
[ INFO] [1495016463.016734632]: Starting world geometry monitor
[ INFO] [1495016463.025046719]: Listening to '/collision_object' using message notifier with target frame '/base '
[ INFO] [1495016463.033351917]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1495016463.062230866]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1495016463.110704157]: Initializing OMPL interface using ROS parameters
[ INFO] [1495016463.159454318]: Using planning interface 'OMPL'
[ INFO] [1495016463.189799983]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1495016463.192609516]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1495016463.195020096]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1495016463.197465266]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1495016463.201089427]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1495016463.203597709]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1495016463.203654817]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1495016463.203682529]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1495016463.203711417]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1495016463.203723132]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1495016463.203761613]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1495016463.215644770]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1495016463.217830741]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ INFO] [1495016463.481330910]: Added FollowJointTrajectory controller for /robot/limb/right
[ INFO] [1495016463.481450028]: Returned 1 controllers in list
[ INFO] [1495016463.516304840]: 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] [1495016463.767432287]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1495016463.767507058]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1495016463.767531704]: MoveGroup context initialization complete
All is well! Everyone is happy! You can start planning now!
[ INFO] [1495016463.848688873]: rgb_frame_id = 'camera_rgb_optical_frame'
[ INFO] [1495016463.848798099]: depth_frame_id = 'camera_depth_optical_frame'
[ WARN] [1495016463.876687681]: Camera calibration file /home/sawyer/.ros/camera_info/rgb_A00366907653103A.yaml not found.
[ WARN] [1495016463.876777590]: Using default parameters for RGB camera calibration.
[ WARN] [1495016463.876814517]: Camera calibration file /home/sawyer/.ros/camera_info/depth_A00366907653103A.yaml not found.
[ WARN] [1495016463.876862956]: Using default parameters for IR camera calibration.
[ INFO] [1495016465.779364068]: Stopping device RGB and Depth stream flush.
[ INFO] [1495016466.428636329]: Loading robot model 'sawyer'...
[ INFO] [1495016466.532779604]: Loading robot model 'sawyer'...
[ INFO] [1495016466.585212741]: Starting scene monitor
[ INFO] [1495016466.592453780]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1495016467.469390902]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''
[ INFO] [1495016468.301998541]: TrajectoryExecution will use old service capability.
[ INFO] [1495016468.302066666]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1495016468.302105415]: Looking around: no
[ INFO] [1495016468.302133111]: Replanning: no
I think I have tried almost everything to make it work. I followed several tutorial but my configuration seems to be ok. Here are some documentation I've been through:
MoveIt tutorials:
http:// docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/perception_configuration.html
MoveIt google group:
https:// groups.google.com/forum/#!forum/moveit-users
Baxter Kinect integration for MoveIt:
http:// sdk.rethinkrobotics.com/wiki/Kinect_basics
MoveIt installation and tuto for Sawyer
http:// sdk.rethinkrobotics.com/intera/MoveIt_Tutorial
It seems that I am not the only one not being able to see the octomap in rviz. Maybe someone here had already been confronted to this problem ?
Thanks in advance !
I finally found a solution, check here if you are interested: https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI
There is a useless "move_group" namespace block in "sawyer_moveit_sensor_manager.launch.xml"
Related
so basically I am just starting with karate testing framework and and probably missing something really simple, but I cant seem to get an embedded expression to be resolved properly. If I have a feature file like so that does the same thing a couple ways:
Feature: Test Service
Background:
* url 'http://testurl:8080'
* def localDateTime = Java.type('java.time.LocalDateTime')
Scenario: Successful request
* def createDateTime = LocalDateTime.now()
* def testRequest =
"""
{
createDateTime: "#(createDateTime)",
expiryDateTime:"#(localDateTime.now().plusMinutes(5))"
}
"""
* print testRequest
* set testRequest.createDateTime = createdTime
* print testRequest
Then when it gets to the print lines, I get output like this where the values are empty js objects {}
16:43:28.580 [main] INFO com.intuit.karate - [print] {"createDateTime":{},"expiryDateTime":{}}16:43:28.586 [main] DEBUG com.jayway.jsonpath.internal.PathCompiler - Using cached path: $true[]
Also, I can see where it appears to be setting the path for the first print statement like so:
16:32:30.612 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['createDateTime']
16:32:30.613 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['createDateTime'] new value 2017-09-14T16:32:30.566
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['expiryDateTime']
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['expiryDateTime'] new value 2017-09-14T16:37:30.621
Can anybody please explain to me why I am unable to get the actual dates inserted into the testRequest?
Thank you.
I think your problem will be solved if you convert those date objects to strings.
* def LocalDateTime = Java.type('java.time.LocalDateTime')
* def createDate = LocalDateTime.now() + ''
* def expiryDate = LocalDateTime.now().plusMinutes(5) + ''
* def testRequest = { createDateTime: '#(createDate)', expiryDateTime: '#(expiryDate)' }
* print karate.pretty(testRequest)
The above is working for me and this is the output:
06:11:47.010 [main] INFO com.intuit.karate - [print] {
"createDateTime": "2017-09-15T06:11:46.983",
"expiryDateTime": "2017-09-15T06:16:46.990"
}
so basically I am just starting with karate testing framework and and probably missing something really simple, but I cant seem to get an embedded expression to be resolved properly. If I have a feature file like so that does the same thing a couple ways:
Feature: Test Service
Background:
* url 'http://testurl:8080'
* def localDateTime = Java.type('java.time.LocalDateTime')
Scenario: Successful request
* def createDateTime = LocalDateTime.now()
* def testRequest =
"""
{
createDateTime: "#(createDateTime)",
expiryDateTime:"#(localDateTime.now().plusMinutes(5))"
}
"""
* print testRequest
* set testRequest.createDateTime = createdTime
* print testRequest
Then when it gets to the print lines, I get output like this where the values are empty js objects {}
16:43:28.580 [main] INFO com.intuit.karate - [print] {"createDateTime":{},"expiryDateTime":{}}16:43:28.586 [main] DEBUG com.jayway.jsonpath.internal.PathCompiler - Using cached path: $true[]
Also, I can see where it appears to be setting the path for the first print statement like so:
16:32:30.612 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['createDateTime']
16:32:30.613 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['createDateTime'] new value 2017-09-14T16:32:30.566
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['expiryDateTime']
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['expiryDateTime'] new value 2017-09-14T16:37:30.621
Can anybody please explain to me why I am unable to get the actual dates inserted into the testRequest?
Thank you.
I think your problem will be solved if you convert those date objects to strings.
* def LocalDateTime = Java.type('java.time.LocalDateTime')
* def createDate = LocalDateTime.now() + ''
* def expiryDate = LocalDateTime.now().plusMinutes(5) + ''
* def testRequest = { createDateTime: '#(createDate)', expiryDateTime: '#(expiryDate)' }
* print karate.pretty(testRequest)
The above is working for me and this is the output:
06:11:47.010 [main] INFO com.intuit.karate - [print] {
"createDateTime": "2017-09-15T06:11:46.983",
"expiryDateTime": "2017-09-15T06:16:46.990"
}
I have read: https://stackoverflow.com/search?q=%5Bkarate%5Dcannot+convert+to+map and https://github.com/intuit/karate/issues/544
I am using karate-0.8.0
I have one feature which will be re-used on A directory, the content like:
#ignore
Feature:
Background:
* url baseUrl
* def Sign = Java.type('cruiser.token.Sign')
* configure afterScenario =
"""
function() {
if (karate.info.errorMessage != null) {
karate.log(karate.info.errorMessage);
}
}
"""
Scenario:
* def ck = Sign.execute('#(uid)')
* path '/rest/n/rt/upload'
* cookies ck
* multipart fields '#(fo)'
* multipart file rt = { read: 'classpath:cruiser/http/rt/A/123.mp3', filename: '123.mp3', contentType: 'audio/mp3' }
* method post
* status 200
* match response contains { result: 1 }
And have other one feature file on B directory, content like this:
Feature:
Background:
Scenario:
* def fo =
"""
{
'title': '你好！',
'description': '很好听哦'
}
"""
* def x = call read('classpath:cruiser/http/rt/A/upload-base.feature') { uid: 33, fo: '#(fo)' }
* match x.response contains { result: 1 }
* print x.response.feed.id
its runner name is XRunner.java
when mvn test -Dtest=XRunner, the error info:
Running cruiser.http.rt.B.XRunner
11:25:33.138 [main] INFO com.intuit.karate.junit4.Karate - Karate version: 0.8.0
11:25:33.896 [main] ERROR com.intuit.karate - feature call failed: classpath:cruiser/http/rt/A/upload-base.feature
arg: {uid=33, fo={title=你好！, description=很好听哦}}
cannot convert to map: '#(fo)'
Failed scenarios:
cruiser/http/rt/B/x.feature:3 # Scenario:
Both these lines are wrong:
* def ck = Sign.execute('#(uid)')
* multipart fields '#(fo)'
Read this: https://github.com/intuit/karate#rules-for-embedded-expressions
In Karate, expressions are pure JS by default. So just do this:
* def ck = Sign.execute(uid)
* multipart fields fo
I have a simple app that is trying to:
1) rotate videos that have a rotation value
2) re-encode HEVC videos so they play in Chrome (until Chrome supports HEVC)
3) stitch several of the results together.
I'm currently developing locally and in testing, I'm trying to scan the current directory for some example mp4's I have in there. It chokes on the very first one. Here is the code:
<?PHP
$files1 = scandir('./');
foreach ($files1 as $file) {
$fileinfo = new SplFileInfo($file);
$extn = $fileinfo->getExtension();
if ($extn == 'mp4'){
fixVideo($file);
}
}
// FUNCTIONS
function fixVideo($file) {
$config = array(
'ffmpeg.binaries' => '/usr/local/bin/ffmpeg',
'ffprobe.binaries' => '/usr/local/bin/ffprobe',
'timeout' => 3600, // The timeout for the underlying process
'ffmpeg.threads' => 12, // The number of threads that FFMpeg should use
);
$resultFile = 'FIXED_'.$file;
// create the ffmpeg object
$ffmpeg = FFMpeg\FFMpeg::create($config, null);
// open video file
$video = $ffmpeg->open($file);
// get the first video stream
$videostream = $ffmpeg->getFFProbe()
->streams($file)
->videos()
->first();
//echo "<pre>";print_r($videostream);
if (!$videostream instanceof FFMpeg\FFProbe\DataMapping\Stream) {
throw new \Exception('No stream given');
} else {
echo "<video src='$file' width='100'></video><br>";
echo "$file<br>";
if ($videostream->has('tags')) {
//echo "has tags<BR>";
// MUST WE ROTATE?
$tags = $videostream->get('tags');
if (isset($tags['rotate'])) {
echo "has rotate" . $tags['rotate'] . "<BR>" ;
if ($tags['rotate'] != 0) {
echo "rotate not 0<BR>";
switch($tags['rotate']) {
case 270:
$angle = FFMpeg\Filters\Video\RotateFilter::ROTATE_270;
break;
case 180:
$angle = FFMpeg\Filters\Video\RotateFilter::ROTATE_180;
break;
case 90:
$angle = FFMpeg\Filters\Video\RotateFilter::ROTATE_90;
break;
}
$video->filters()
->rotate($angle); echo "rotating<br>";
} // if ($tags['rotate']
// MUST WE REENCODE TO H.264?
if (isset($tags['encoder'])) {
echo "encoding: " . $tags['encoder'];
}
$format = new FFMpeg\Format\Video\X264();
$format->setAudioCodec("aac");
$video->save($format,$resultFile );
} // if (isset($tags['rotate']
} // if ($videostream->has('tags')
echo "<BR><BR>";
} // if $videostream instanceof
}//function
?>
When I run that in the browser, I get:
appL.mp4
has rotate0
encoding: HEVC
Fatal error: Uncaught Alchemy\BinaryDriver\Exception\ExecutionFailureException: ffmpeg failed to execute command '/usr/local/bin/ffmpeg' '-y' '-i' 'appL.mp4' '-threads' '12' '-vcodec' 'libx264' '-acodec' 'libmp3lame' '-b:v' '1000k' '-refs' '6' '-coder' '1' '-sc_threshold' '40' '-flags' '+loop' '-me_range' '16' '-subq' '7' '-i_qfactor' '0.71' '-qcomp' '0.6' '-qdiff' '4' '-trellis' '1' '-b:a' '128k' '-pass' '1' '-passlogfile' '/var/tmp/ffmpeg-passes5ba267bb96d0abvdgk/pass-5ba267bb96e01' 'FIXED_appL.mp4' in /Users/[redacted]/test3/vendor/alchemy/binary-driver/src/Alchemy/BinaryDriver/ProcessRunner.php:100 Stack trace: #0 /Users/[redacted]/test3/vendor/alchemy/binary-driver/src/Alchemy/BinaryDriver/ProcessRunner.php(72): Alchemy\BinaryDriver\ProcessRunner->doExecutionFailure(''/usr/local/bin...') #1 /Users/[redacted]/test3/vendor/alchemy/binary-driver/src/Alchemy/BinaryDriver/AbstractBinary.php(209): Alchemy\Bi in /Users/[redacted]/test3/vendor/php-ffmpeg/php-ffmpeg/src/FFMpeg/Media/AbstractVideo.php on line 106
When I run it in the Terminal, I get:
MacBook-Pro:videos [redacted]$ '/usr/local/bin/ffmpeg' '-y' '-i' 'appL.mp4' '-threads' '12' '-vcodec' 'libx264' '-acodec' 'libmp3lame' '-b:v' '1000k' '-refs' '6' '-coder' '1' '-sc_threshold' '40' '-flags' '+loop' '-me_range' '16' '-subq' '7' '-i_qfactor' '0.71' '-qcomp' '0.6' '-qdiff' '4' '-trellis' '1' '-b:a' '128k' '-pass' '1' '-passlogfile' '/var/tmp/ffmpeg-passes5ba267bb96d0abvdgk/pass-5ba267bb96e01' 'FIXED_appL.mp4'
ffmpeg version 4.0.2 Copyright (c) 2000-2018 the FFmpeg developers
built with Apple LLVM version 9.1.0 (clang-902.0.39.2)
configuration: --prefix=/usr/local/Cellar/ffmpeg/4.0.2 --enable-shared --enable-pthreads --enable-version3 --enable-hardcoded-tables --enable-avresample --cc=clang --host-cflags=-I/System/Library/Frameworks/JavaVM.framework/Versions/Current/Headers/ --host-ldflags= --enable-gpl --enable-chromaprint --enable-ffplay --enable-frei0r --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libfdk-aac --enable-libfontconfig --enable-libfreetype --enable-libgme --enable-libgsm --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-libopenh264 --enable-libopus --enable-librsvg --enable-librtmp --enable-librubberband --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtesseract --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx264 --enable-libx265 --enable-libxvid --enable-libzimg --enable-libzmq --enable-opencl --enable-videotoolbox --enable-openssl --enable-libsrt --enable-lzma --enable-libopenjpeg --disable-decoder=jpeg2000 --extra-cflags=-I/usr/local/Cellar/openjpeg/2.3.0/include/openjpeg-2.3 --enable-nonfree
libavutil 56. 14.100 / 56. 14.100
libavcodec 58. 18.100 / 58. 18.100
libavformat 58. 12.100 / 58. 12.100
libavdevice 58. 3.100 / 58. 3.100
libavfilter 7. 16.100 / 7. 16.100
libavresample 4. 0. 0 / 4. 0. 0
libswscale 5. 1.100 / 5. 1.100
libswresample 3. 1.100 / 3. 1.100
libpostproc 55. 1.100 / 55. 1.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'appL.mp4':
Metadata:
major_brand : qt
minor_version : 0
compatible_brands: qt
creation_time : 2018-09-17T16:01:54.000000Z
Duration: 00:00:03.30, start: 0.000000, bitrate: 4574 kb/s
Stream #0:0(und): Video: hevc (Main) (hvc1 / 0x31637668), yuv420p(tv, bt709), 960x540, 4459 kb/s, 29.97 fps, 29.97 tbr, 600 tbn, 600 tbc (default)
Metadata:
rotate : 0
creation_time : 2018-09-17T16:01:54.000000Z
handler_name : Core Media Data Handler
encoder : HEVC
Side data:
displaymatrix: rotation of -0.00 degrees
Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, mono, fltp, 98 kb/s (default)
Metadata:
creation_time : 2018-09-17T16:01:54.000000Z
handler_name : Core Media Data Handler
Stream mapping:
Stream #0:0 -> #0:0 (hevc (native) -> h264 (libx264))
Stream #0:1 -> #0:1 (aac (native) -> mp3 (libmp3lame))
Press [q] to stop, [?] for help
[libx264 # 0x7f89e0018600] using cpu capabilities: MMX2 SSE2Fast SSSE3 SSE4.2 AVX FMA3 BMI2 AVX2
[libx264 # 0x7f89e0018600] ratecontrol_init: can't open stats file
Error initializing output stream 0:0 -- Error while opening encoder for output stream #0:0 - maybe incorrect parameters such as bit_rate, rate, width or height
[libmp3lame # 0x7f89e0019e00] 4 frames left in the queue on closing
Conversion failed!
Try this.. Change:
$format = new FFMpeg\Format\Video\X264();
To:
$format = new FFMpeg\Format\Video\X264('libmp3lame');
so basically I am just starting with karate testing framework and and probably missing something really simple, but I cant seem to get an embedded expression to be resolved properly. If I have a feature file like so that does the same thing a couple ways:
Feature: Test Service
Background:
* url 'http://testurl:8080'
* def localDateTime = Java.type('java.time.LocalDateTime')
Scenario: Successful request
* def createDateTime = LocalDateTime.now()
* def testRequest =
"""
{
createDateTime: "#(createDateTime)",
expiryDateTime:"#(localDateTime.now().plusMinutes(5))"
}
"""
* print testRequest
* set testRequest.createDateTime = createdTime
* print testRequest
Then when it gets to the print lines, I get output like this where the values are empty js objects {}
16:43:28.580 [main] INFO com.intuit.karate - [print] {"createDateTime":{},"expiryDateTime":{}}16:43:28.586 [main] DEBUG com.jayway.jsonpath.internal.PathCompiler - Using cached path: $true[]
Also, I can see where it appears to be setting the path for the first print statement like so:
16:32:30.612 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['createDateTime']
16:32:30.613 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['createDateTime'] new value 2017-09-14T16:32:30.566
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.CompiledPath - Evaluating path: $['expiryDateTime']
16:32:30.629 [main] DEBUG com.jayway.jsonpath.internal.JsonReader - Set path $['expiryDateTime'] new value 2017-09-14T16:37:30.621
Can anybody please explain to me why I am unable to get the actual dates inserted into the testRequest?
Thank you.
I think your problem will be solved if you convert those date objects to strings.
* def LocalDateTime = Java.type('java.time.LocalDateTime')
* def createDate = LocalDateTime.now() + ''
* def expiryDate = LocalDateTime.now().plusMinutes(5) + ''
* def testRequest = { createDateTime: '#(createDate)', expiryDateTime: '#(expiryDate)' }
* print karate.pretty(testRequest)
The above is working for me and this is the output:
06:11:47.010 [main] INFO com.intuit.karate - [print] {
"createDateTime": "2017-09-15T06:11:46.983",
"expiryDateTime": "2017-09-15T06:16:46.990"
}