Part4 : "Error : Failed to resolve message name: list index out of range"

Hello.

I finished parts 0~3 of Pick-and-Place tutorials using Ubuntu18.04 PC. Now I am trying to do Part 4 with my real Niryo One, but I am having trouble getting errors and don’t know what to do.

I connected my PC to Niryo One via Ethernet on Ubuntu. I launched Niryo One Studio, got the calibration done, and then executed the Unity scene. Both simulated Niryo One and real Niryo One didn’t move. The errors are as below.

[After I pressed Play in part 4 Unity scene]

• Unity side

SysCommand.subscribe - Unknown message class ''
UnityEngine.Debug:LogError (object)
Unity.Robotics.ROSTCPConnector.ROSConnection:ReceiveSysCommand (string,string) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:633)
Unity.Robotics.ROSTCPConnector.ROSConnection:Update () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:578)

• ROS side [ERROR] [1636725544.585528]: Failed to resolve message name: list index out of range

[After I pressed “publish” button in playing the scene]

• ROS side No change from above.

• Unity side

Exception: No registered publisher on topic sim_real_pnp for type niryo_moveit/MoverService!
Unity.Robotics.ROSTCPConnector.ROSConnection.Publish (System.String rosTopicName, Unity.Robotics.ROSTCPConnector.MessageGeneration.Message message) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:956)
RealSimPickAndPlace.PublishJoints () (at Assets/RealSimPickAndPlace.cs:136)
UnityEngine.Events.InvokableCall.Invoke () (at /home/bokken/buildslave/unity/build/Runtime/Export/UnityEvent/UnityEvent.cs:180)
UnityEngine.Events.UnityEvent.Invoke () (at /home/bokken/buildslave/unity/build/Runtime/Export/UnityEvent/UnityEvent/UnityEvent_0.cs:58)
UnityEngine.UI.Button.Press () (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/UI/Core/Button.cs:70)
UnityEngine.UI.Button.OnPointerClick (UnityEngine.EventSystems.PointerEventData eventData) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/UI/Core/Button.cs:114)
UnityEngine.EventSystems.ExecuteEvents.Execute (UnityEngine.EventSystems.IPointerClickHandler handler, UnityEngine.EventSystems.BaseEventData eventData) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/ExecuteEvents.cs:57)
UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/ExecuteEvents.cs:272)
UnityEngine.EventSystems.EventSystem:Update() (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/EventSystem.cs:501)

I commented out one line in “Real Sim Pick And Place” script as below, and the result changed; playing the unity scene itself doesn’t cause an error (Pressing “Publish” Button still causes errors.)

commented out:

[Before pressing “Publish” button]

• Unity side & ROS side No errors.

[After pressing “Publish” button]

• Unity side

Exception: No registered publisher on topic sim_real_pnp for type niryo_moveit/MoverService!
Unity.Robotics.ROSTCPConnector.ROSConnection.Publish (System.String rosTopicName, Unity.Robotics.ROSTCPConnector.MessageGeneration.Message message) (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@7f055108f4/Runtime/TcpConnector/ROSConnection.cs:956)
RealSimPickAndPlace.PublishJoints () (at Assets/RealSimPickAndPlace.cs:136)
UnityEngine.Events.InvokableCall.Invoke () (at /home/bokken/buildslave/unity/build/Runtime/Export/UnityEvent/UnityEvent.cs:180)
UnityEngine.Events.UnityEvent.Invoke () (at /home/bokken/buildslave/unity/build/Runtime/Export/UnityEvent/UnityEvent/UnityEvent_0.cs:58)
UnityEngine.UI.Button.Press () (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/UI/Core/Button.cs:70)
UnityEngine.UI.Button.OnPointerClick (UnityEngine.EventSystems.PointerEventData eventData) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/UI/Core/Button.cs:114)
UnityEngine.EventSystems.ExecuteEvents.Execute (UnityEngine.EventSystems.IPointerClickHandler handler, UnityEngine.EventSystems.BaseEventData eventData) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/ExecuteEvents.cs:57)
UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/ExecuteEvents.cs:272)
UnityEngine.EventSystems.EventSystem:Update() (at Library/PackageCache/com.unity.ugui@1.0.0/Runtime/EventSystem/EventSystem.cs:501)

• ROS side: No change

After that, I added “Debug.Log()” code in the “Start()” and “ExecuteRobotCommands()” functions as below.

… [The result]

Log 1 appeared but Log 2 didn’t. It seems that the program went wrong before ExecuteRobotCommands() was called.

Environment

Linux PC with Unity (not virtual machine)

• Ubuntu 18.04.6 LTS
• Unity Hub 2.4.5 (for Linux)
• Unity 2021.1.26f1
• Niryo One Studio for Linux
• (ROS Melodic)
• (Docker : but not used in part4)

real Niryo One (Raspberry Pi 3)

• Ubuntu 16.04.7 LTS
• ROS kinetic
• niryo_moveit & ros_tcp_endpoint packages (to home/niryo/catkin_ws/src directory)
• Contents of the home/niryo/catkin_ws/src directory are as below

Actually, I also tried with Windows PC (& Unity for Windows) connected to Niryo One via wi-fi network, and the result was the same… Do you have any idea what should I do ?

Thank you for reading.

[sdiao]

Hi @zarumo , thanks for reaching out and sharing the detailed logs. We are currently investigating the issue and will keep you posted.

[vidurvij-Unity]

AIRO-1571 is resolved