SofaRos Connector

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  • 9 January 2022 at 18:02 #21333
    Abdelrahman
    Blocked

    Hello Everyone

    I have a project that I want to control Soft robots through sofa and ros, but I found that Sofa Ros connector plugin is no longer supported, is there any chance to support it again?

    10 January 2022 at 17:32 #21352
    Hugo
    Keymaster

    Hey @abdelrahman2010

    Indeed the plugin was developed years ago by an indie dev.
    Now the trend is more to go through python as explained here.

    Let me know if this helps.

    Best wishes,

    Hugo

    11 January 2022 at 20:50 #21368
    Abdelrahman
    Blocked

    Hello @hugo

    Thanks your quick reply, I have tried the example that is provided in the link after transferring it to SofaPython3 and also tried another example. In both cases when I run sofa it opens and close instantaneously and i’m getting this error message 

    [WARNING] [SofaEigen2Solver] SofaEigen2Solver is deprecated; Eigen classes are now located in Sofa.LinearAlgebra and SVDLinearSolver in SofaDenseSolver.You can remove SofaEigen2Solver from your scene, and if using SVDLinearSolver, please load SofaDenseSolver instead.
[INFO]    [runSofa] PluginRepository paths = /home/abdelrahman/SOFA/v21.12.00/plugins:/home/abdelrahman/SOFA/v21.12.00/lib
[INFO]    [runSofa] DataRepository paths = /home/abdelrahman/SOFA/v21.12.00/share/sofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/examples:/home/abdelrahman/SOFA/v21.12.00/share/sofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/examples
[INFO]    [runSofa] GuiDataRepository paths = /home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/runSofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/qt:/home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/qt
[INFO]    [runSofa] Loading automatically plugin list in /home/abdelrahman/SOFA/v21.12.00/lib/plugin_list.conf
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSimpleFem/lib/libSofaSimpleFem.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaRigid/lib/libSofaRigid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaDeformable/lib/libSofaDeformable.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaObjectInteraction/lib/libSofaObjectInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaMeshCollision/lib/libSofaMeshCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaEngine/lib/libSofaEngine.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaExplicitOdeSolver/lib/libSofaExplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaImplicitOdeSolver/lib/libSofaImplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaLoader/lib/libSofaLoader.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralVisual/lib/libSofaGeneralVisual.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGraphComponent/lib/libSofaGraphComponent.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralMeshCollision/lib/libSofaGeneralMeshCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaBoundaryCondition/lib/libSofaBoundaryCondition.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralAnimationLoop/lib/libSofaGeneralAnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralDeformable/lib/libSofaGeneralDeformable.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralEngine/lib/libSofaGeneralEngine.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralExplicitOdeSolver/lib/libSofaGeneralExplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralImplicitOdeSolver/lib/libSofaGeneralImplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralLinearSolver/lib/libSofaGeneralLinearSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralRigid/lib/libSofaGeneralRigid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralObjectInteraction/lib/libSofaGeneralObjectInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralSimpleFem/lib/libSofaGeneralSimpleFem.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralTopology/lib/libSofaGeneralTopology.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaTopologyMapping/lib/libSofaTopologyMapping.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaUserInteraction/lib/libSofaUserInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaConstraint/lib/libSofaConstraint.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralLoader/lib/libSofaGeneralLoader.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSparseSolver/lib/libSofaSparseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaDenseSolver/lib/libSofaDenseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaOpenglVisual/lib/libSofaOpenglVisual.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaMiscCollision/lib/libSofaMiscCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/CImgPlugin/lib/libCImgPlugin.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSphFluid/lib/libSofaSphFluid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/STLIB/lib/libSTLIB.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaNonUniformFem/lib/libSofaNonUniformFem.so
[INFO]    [SofaPython3] Initializing with python version 3.8.10 (default, Nov 26 2021, 20:14:08) 
[GCC 9.3.0]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Shared library name is 'libpython3.8m.so'
[INFO]    [SofaPython3] Intializing python
[INFO]    [SofaPython3] Added '/home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3/lib/python3/site-packages' to sys.path
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/abdelrahman/SOFA/v21.12.00
Using environment variable SOFAPYTHON3_ROOT: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3
---------------------------------------
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3/lib/libSofaPython3.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SoftRobots/lib/libSoftRobots.so
[INFO]    [SofaPython3] Added '/home/abdelrahman/SOFA/v21.12.00/plugins/SoftRobots/lib/python3/site-packages' to sys.path
Warning: Setting a new default format with a different version or profile after the global shared context is created may cause issues with context sharing.
The constructor with a QGLFormat is deprecated, use the regular contructor instead.

[WARNING] [DefaultContactManager] Option "FrictionContact" for data "response" has been renamed since v21.12 (PR#2522). You have until v22.06 to fix your scene. Use "FrictionContactConstraint" instead.

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::sig(int)
  _PyObject_MakeTpCall
  PyObject_SetAttr
  _PyEval_EvalFrameDefault
  _PyObject_FastCallDict
  _PyObject_Call_Prepend
  _PyObject_MakeTpCall
  _PyEval_EvalFrameDefault
  PyVectorcall_Call
  sofapython3::SceneLoaderPY3::loadSceneWithArguments(char const*, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, boost::intrusive_ptr<sofa::simulation::Node>)
  sofapython3::SceneLoaderPY3::doLoad(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  sofa::simulation::SceneLoader::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  sofa::simulation::Simulation::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  __libc_start_main
Segmentation fault (core dumped)

    I’m running latest sofa release on ubuntu 20.04

    11 January 2022 at 22:13 #21370
    Hugo
    Keymaster

    Hey @abdelrahman2010

    Strange, you are using the binary and tough, the problem seems to come from python/SofaPython3. Let me poke @guillaumeparan our release manager here.

    Hugo

    12 January 2022 at 15:49 #21377
    Guillaume
    Keymaster

    Hi,

    Could you provide the command you executed to get this output?

    Thanks.

    12 January 2022 at 16:04 #21378
    Abdelrahman
    Blocked

    Hello @guillaumeparan

    I started by creating a sofaros package and ran the node in one terminal by
    rosrun sofaros recv.py

    and in another terminal I ran the command
    ~/SOFA/v21.12.00/bin/runSofa ~/catkin_ws/src/sofaros/src/test_sofaros.py

    13 January 2022 at 09:30 #21384
    Guillaume
    Keymaster

    What is the output if you run
    ~/SOFA/v21.12.00/bin/runSofa -l SofaPython3 ~/catkin_ws/src/sofaros/src/test_sofaros.py

    13 January 2022 at 12:06 #21396
    Abdelrahman
    Blocked

    Hello @guillaumeparan

    It’s exactly the same output as before

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