rtc.log¶

Sep 10 08:36:49.477 INFO: manager: OpenRTM 2.1.0
Sep 10 08:36:49.477 INFO: manager: Copyright (C) 2003-2024, Noriaki Ando and OpenRTM development team,
Sep 10 08:36:49.477 INFO: manager:   Intelligent Systems Research Institute, AIST,
Sep 10 08:36:49.477 INFO: manager: Copyright (C) 2024, Noriaki Ando and OpenRTM development team,
Sep 10 08:36:49.477 INFO: manager:   Industrial Cyber-Physical Research Center, AIST,
Sep 10 08:36:49.477 INFO: manager:   All right reserved.
Sep 10 08:36:49.477 INFO: manager: Manager starting.
Sep 10 08:36:49.478 INFO: manager: Starting local logging.
Sep 10 08:36:49.478 DEBUG: manager: corba.args: -ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::
Sep 10 08:36:49.478 DEBUG: manager: - config
Sep 10 08:36:49.478 DEBUG: manager:   - version: 2.1.0
Sep 10 08:36:49.478 DEBUG: manager: - openrtm
Sep 10 08:36:49.478 DEBUG: manager:   - name: OpenRTM-aist-2.1.0
Sep 10 08:36:49.478 DEBUG: manager:   - version: 2.1.0
Sep 10 08:36:49.478 DEBUG: manager: - manager
Sep 10 08:36:49.478 DEBUG: manager:   - instance_name: manager
Sep 10 08:36:49.478 DEBUG: manager:   - name: manager
Sep 10 08:36:49.478 DEBUG: manager:   - naming_formats: %h.host_cxt/%n.mgr
Sep 10 08:36:49.478 DEBUG: manager:   - pid: 41015
Sep 10 08:36:49.478 DEBUG: manager:   - modules
Sep 10 08:36:49.478 DEBUG: manager:     - load_path: /usr/lib/x86_64-linux-gnu/openrtm-2.1/ssl
Sep 10 08:36:49.478 DEBUG: manager:     - abs_path_allowed: YES
Sep 10 08:36:49.478 DEBUG: manager:     - C++
Sep 10 08:36:49.478 DEBUG: manager:       - manager_cmd: rtcd2
Sep 10 08:36:49.478 DEBUG: manager:       - profile_cmd: rtcprof2
Sep 10 08:36:49.478 DEBUG: manager:       - suffixes: so
Sep 10 08:36:49.478 DEBUG: manager:       - load_paths: 
Sep 10 08:36:49.478 DEBUG: manager:     - Python
Sep 10 08:36:49.478 DEBUG: manager:       - manager_cmd: rtcd2_python
Sep 10 08:36:49.478 DEBUG: manager:       - profile_cmd: rtcprof2_python
Sep 10 08:36:49.478 DEBUG: manager:       - suffixes: py
Sep 10 08:36:49.478 DEBUG: manager:       - load_paths: 
Sep 10 08:36:49.478 DEBUG: manager:     - Java
Sep 10 08:36:49.479 DEBUG: manager:       - manager_cmd: rtcd2_java
Sep 10 08:36:49.479 DEBUG: manager:       - profile_cmd: rtcprof2_java
Sep 10 08:36:49.479 DEBUG: manager:       - suffixes: class
Sep 10 08:36:49.479 DEBUG: manager:       - load_paths: 
Sep 10 08:36:49.479 DEBUG: manager:     - search_auto: YES
Sep 10 08:36:49.479 DEBUG: manager:     - config_path: 
Sep 10 08:36:49.479 DEBUG: manager:     - download_allowed: 
Sep 10 08:36:49.479 DEBUG: manager:     - init_func_suffix: 
Sep 10 08:36:49.479 DEBUG: manager:     - init_func_prefix: 
Sep 10 08:36:49.479 DEBUG: manager:   - is_master: NO
Sep 10 08:36:49.479 DEBUG: manager:   - corba_servant: YES
Sep 10 08:36:49.479 DEBUG: manager:   - shutdown_on_nortcs: YES
Sep 10 08:36:49.479 DEBUG: manager:   - shutdown_auto: YES
Sep 10 08:36:49.479 DEBUG: manager:   - auto_shutdown_duration: 20.0
Sep 10 08:36:49.479 DEBUG: manager:   - termination_waittime: 0.5
Sep 10 08:36:49.479 DEBUG: manager:   - components
Sep 10 08:36:49.479 DEBUG: manager:     - naming_policy: process_unique
Sep 10 08:36:49.479 DEBUG: manager:     - precreate: 
Sep 10 08:36:49.479 DEBUG: manager:     - preconnect: 
Sep 10 08:36:49.479 DEBUG: manager:     - preactivation: 
Sep 10 08:36:49.479 DEBUG: manager:   - command: rtcd2
Sep 10 08:36:49.479 DEBUG: manager:   - nameservers: default
Sep 10 08:36:49.479 DEBUG: manager:   - language: C++
Sep 10 08:36:49.479 DEBUG: manager:   - supported_languages: C++, Python, Java
Sep 10 08:36:49.479 DEBUG: manager:   - preload
Sep 10 08:36:49.479 DEBUG: manager:     - modules: SSLTransport.so
Sep 10 08:36:49.479 DEBUG: manager:   - local_service
Sep 10 08:36:49.479 DEBUG: manager:     - enabled_services: ALL
Sep 10 08:36:49.479 DEBUG: manager: - os
Sep 10 08:36:49.479 DEBUG: manager:   - name: Linux
Sep 10 08:36:49.479 DEBUG: manager:   - release: 6.8.0-79-generic
Sep 10 08:36:49.479 DEBUG: manager:   - version: #79-Ubuntu SMP PREEMPT_DYNAMIC Tue Aug 12 14:42:46 UTC 2025
Sep 10 08:36:49.479 DEBUG: manager:   - arch: x86_64
Sep 10 08:36:49.479 DEBUG: manager:   - hostname: zku2404
Sep 10 08:36:49.479 DEBUG: manager: - logger
Sep 10 08:36:49.479 DEBUG: manager:   - enable: YES
Sep 10 08:36:49.479 DEBUG: manager:   - file_name: ./rtc41015.log
Sep 10 08:36:49.479 DEBUG: manager:   - date_format: %b %d %H:%M:%S.%Q
Sep 10 08:36:49.479 DEBUG: manager:   - log_level: DEBUG
Sep 10 08:36:49.479 DEBUG: manager:   - stream_lock: NO
Sep 10 08:36:49.479 DEBUG: manager:   - master_logger: 
Sep 10 08:36:49.479 DEBUG: manager:   - escape_sequence_enable: NO
Sep 10 08:36:49.479 DEBUG: manager:   - clock_type: 
Sep 10 08:36:49.479 DEBUG: manager:   - plugins: 
Sep 10 08:36:49.479 DEBUG: manager:   - logstream: 
Sep 10 08:36:49.479 DEBUG: manager: - module
Sep 10 08:36:49.479 DEBUG: manager:   - conf_path: 
Sep 10 08:36:49.479 DEBUG: manager:   - load_path: 
Sep 10 08:36:49.479 DEBUG: manager: - naming
Sep 10 08:36:49.479 DEBUG: manager:   - enable: YES
Sep 10 08:36:49.479 DEBUG: manager:   - type: corba
Sep 10 08:36:49.479 DEBUG: manager:   - formats: %h.host_cxt/%n.rtc
Sep 10 08:36:49.479 DEBUG: manager:   - update
Sep 10 08:36:49.479 DEBUG: manager:     - enable: YES
Sep 10 08:36:49.479 DEBUG: manager:     - interval: 10.0
Sep 10 08:36:49.479 DEBUG: manager: - timer
Sep 10 08:36:49.479 DEBUG: manager:   - enable: YES
Sep 10 08:36:49.479 DEBUG: manager:   - tick: 0.1
Sep 10 08:36:49.479 DEBUG: manager: - corba
Sep 10 08:36:49.479 DEBUG: manager:   - args: -ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::
Sep 10 08:36:49.479 DEBUG: manager:   - endpoints: all
Sep 10 08:36:49.479 DEBUG: manager:   - endpoint: 
Sep 10 08:36:49.479 DEBUG: manager:   - id: omniORB
Sep 10 08:36:49.479 DEBUG: manager:   - nameservers: corbaloc:ssliop:localhost:2809
Sep 10 08:36:49.479 DEBUG: manager:   - master_manager: giop:ssl:localhost:2810
Sep 10 08:36:49.479 DEBUG: manager:   - nameservice
Sep 10 08:36:49.479 DEBUG: manager:     - replace_endpoint: NO
Sep 10 08:36:49.479 DEBUG: manager:   - update_master_manager
Sep 10 08:36:49.479 DEBUG: manager:     - enable: YES
Sep 10 08:36:49.479 DEBUG: manager:     - interval: 10.0
Sep 10 08:36:49.479 DEBUG: manager:   - ssl
Sep 10 08:36:49.479 DEBUG: manager:     - certificate_authority_file: /usr/etc/ssl/root.crt
Sep 10 08:36:49.479 DEBUG: manager:     - key_file: /usr/etc/ssl/server.pem
Sep 10 08:36:49.479 DEBUG: manager:     - key_file_password: password
Sep 10 08:36:49.479 DEBUG: manager: - exec_cxt
Sep 10 08:36:49.479 DEBUG: manager:   - periodic
Sep 10 08:36:49.479 DEBUG: manager:     - type: PeriodicExecutionContext
Sep 10 08:36:49.479 DEBUG: manager:     - rate: 1000
Sep 10 08:36:49.479 DEBUG: manager:   - sync_transition: YES
Sep 10 08:36:49.479 DEBUG: manager:   - transition_timeout: 0.5
Sep 10 08:36:49.479 DEBUG: manager: - sdo
Sep 10 08:36:49.479 DEBUG: manager:   - service
Sep 10 08:36:49.479 DEBUG: manager:     - provider
Sep 10 08:36:49.479 DEBUG: manager:       - enabled_services: ALL
Sep 10 08:36:49.479 DEBUG: manager:     - consumer
Sep 10 08:36:49.479 DEBUG: manager:       - enabled_services: ALL
Sep 10 08:36:49.479 DEBUG: manager: - config_file: /usr/etc/ssl/rtc.ssl.conf
Sep 10 08:36:49.480 DEBUG: manager: corba.endpoints: all
Sep 10 08:36:49.480 DEBUG: manager: corba.endpoint: 
Sep 10 08:36:49.480 DEBUG: manager: manager.is_master: NO
Sep 10 08:36:49.480 DEBUG: manager: corba.id: omniORB
Sep 10 08:36:49.480 DEBUG: manager: Endpoint is : all
Sep 10 08:36:49.519 INFO: NamingManager: NameServer connection succeeded: corba/corbaloc:ssliop:localhost:2809
Sep 10 08:36:49.520 DEBUG: ManagerServant: Creating named manager: manager
Sep 10 08:36:49.520 DEBUG: ManagerServant: Activating manager with id(manager)
Sep 10 08:36:49.520 DEBUG: ManagerServant: Manager's IOR information:
 IOR information
  Type ID: "IDL:RTM/Manager:1.0" 
  Profiles:
    1. IIOP 1.2 192.168.1.22 0
       Object Key: "manager" = 0x6d616e61676572  (7 bytes)

Sep 10 08:36:49.520 INFO: ManagerServant: Named manager reference (INS) was successfully created.
Sep 10 08:36:49.521 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:36:49.522 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:36:49.522 WARNING: ManagerServant: Master manager not found
Sep 10 08:36:49.523 DEBUG: LocalServiceAdmin: - enabled_services: ALL
Sep 10 08:36:49.523 DEBUG: LocalServiceAdmin: - modules: 
Sep 10 08:36:49.523 INFO: LocalServiceAdmin: All the local services are enabled.
Sep 10 08:36:49.523 DEBUG: LocalServiceAdmin: Available services: 
Sep 10 08:36:49.523 DEBUG: manager: LocalServiceAdmin's properties:
Sep 10 08:36:49.523 DEBUG: manager: - enabled_services: ALL
Sep 10 08:36:49.523 DEBUG: manager: - modules: 
Sep 10 08:36:49.524 DEBUG: in: Port name: in
Sep 10 08:36:49.524 DEBUG: in: setting port.port_type: DataIntPort
Sep 10 08:36:49.524 DEBUG: in: setting dataport.data_type: IDL:RTC/TimedLong:1.0
Sep 10 08:36:49.524 DEBUG: in: available marshaling_types: cdr
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.provider.enabled_services: ALL
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.provider.available_services: 
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.provider.enabled_services: ALL
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.consumer.enabled_services: ALL
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.consumer.available_services: IDL:OpenRTM/ComponentObserver:1.0
Sep 10 08:36:49.525 DEBUG: SdoServiceAdmin: sdo.service.consumer.enabled_services: ALL
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: getContextOptions()
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: Global EC options are specified.
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: - type: PeriodicExecutionContext
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: - rate: 1000
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: Copying inherited EC options.
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: No component specific EC specified.
Sep 10 08:36:49.525 DEBUG: periodic_ecprofile: Actual rate: 1000 [nsec]
Sep 10 08:36:49.525 INFO: ec_base: setRate(1000000.000000) done
Sep 10 08:36:49.525 DEBUG: periodic_ec: Actual period: 1000 [nsec]
Sep 10 08:36:49.525 DEBUG: ConsoleOut0: EC (PeriodicExecutionContext) created.
Sep 10 08:36:49.525 DEBUG: ec_base: - sync_transition: YES
Sep 10 08:36:49.525 DEBUG: ec_base: - transition_timeout: 0.5
Sep 10 08:36:49.525 DEBUG: ec_base: - type: PeriodicExecutionContext
Sep 10 08:36:49.525 DEBUG: ec_base: - rate: 1000
Sep 10 08:36:49.525 DEBUG: ec_base: - name: 
Sep 10 08:36:49.525 INFO: ec_base: setRate(1000.000000) done
Sep 10 08:36:49.525 DEBUG: ec_base: Transition Mode: sync_transition = YES
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration sync_activation not found.
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration sync_deactivation not found.
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration sync_reset not found.
Sep 10 08:36:49.525 DEBUG: ec_base: Timeout (transition_timeout): 500000000 [ns]
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration activation_timeout not found.
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration deactivation_timeout not found.
Sep 10 08:36:49.525 DEBUG: ec_base: Configuration reset_timeout not found.
Sep 10 08:36:49.525 DEBUG: ec_base: ExecutionContext's configurations:
Sep 10 08:36:49.525 DEBUG: ec_base: Exec rate   : 1000.000000 [Hz]
Sep 10 08:36:49.525 DEBUG: ec_base: Activation  : Sync = YES, Timeout = 0.500000
Sep 10 08:36:49.525 DEBUG: ec_base: Deactivation: Sync = YES, Timeout = 0.500000
Sep 10 08:36:49.525 DEBUG: ec_base: Reset       : Sync = YES, Timeout = 0.500000
Sep 10 08:36:49.525 DEBUG: periodic_ecprofile: - sync_transition: YES
Sep 10 08:36:49.526 DEBUG: periodic_ecprofile: - transition_timeout: 0.5
Sep 10 08:36:49.526 DEBUG: periodic_ecprofile: - type: PeriodicExecutionContext
Sep 10 08:36:49.526 DEBUG: periodic_ecprofile: - rate: 1000
Sep 10 08:36:49.526 DEBUG: periodic_ecprofile: - name: 
Sep 10 08:36:49.526 DEBUG: periodic_ec: CPU affinity property: 
Sep 10 08:36:49.526 DEBUG: periodic_ec: init() done
Sep 10 08:36:49.526 DEBUG: ec_worker: bindContext returns id = 0
Sep 10 08:36:49.526 DEBUG: ec_worker: bindComponent() succeeded.
Sep 10 08:36:49.526 INFO: ConsoleOut0: 1 execution context was created.
Sep 10 08:36:49.526 DEBUG: ConsoleOut0: Calling onInitialize().
Sep 10 08:36:49.526 DEBUG: in: : 
Sep 10 08:36:49.526 DEBUG: in: - data_type: IDL:RTC/TimedLong:1.0
Sep 10 08:36:49.526 DEBUG: in: single buffer mode.
Sep 10 08:36:49.526 DEBUG: in: available providers: corba_cdr, data_service, direct, shared_memory
Sep 10 08:36:49.526 DEBUG: in: dataflow_type push is supported
Sep 10 08:36:49.526 DEBUG: in: available consumers: corba_cdr, data_service, direct, shared_memory
Sep 10 08:36:49.526 DEBUG: ConsoleOut0: onInitialize() succeeded.
Sep 10 08:36:49.526 DEBUG: ConsoleOut0: Active configuration set: default exists.
Sep 10 08:36:49.526 INFO: ConsoleOut0: Initial active configuration set is default.
Sep 10 08:36:49.526 DEBUG: ConsoleOut0: on_initialize() was properly done.
Sep 10 08:36:49.526 DEBUG: ConsoleOut0: EC[0] starting.
Sep 10 08:36:49.526 DEBUG: ec_worker: 1 components started.
Sep 10 08:36:49.527 DEBUG: periodic_ec: cpu affinity is not set
Sep 10 08:36:59.546 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:36:59.547 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:36:59.547 INFO: ManagerServant: Master manager not found
Sep 10 08:37:09.559 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:09.560 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:09.560 INFO: ManagerServant: Master manager not found
Sep 10 08:37:19.571 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:19.572 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:19.572 INFO: ManagerServant: Master manager not found
Sep 10 08:37:29.583 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:29.584 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:29.584 INFO: ManagerServant: Master manager not found
Sep 10 08:37:39.596 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:39.597 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:39.597 INFO: ManagerServant: Master manager not found
Sep 10 08:37:49.609 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:49.609 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:49.609 INFO: ManagerServant: Master manager not found
Sep 10 08:37:59.621 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:37:59.622 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:37:59.622 INFO: ManagerServant: Master manager not found
Sep 10 08:38:09.634 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:38:09.635 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:38:09.635 INFO: ManagerServant: Master manager not found
Sep 10 08:38:19.646 DEBUG: ManagerServant: corbaloc: corbaloc:ssliop:localhost:2810/manager
Sep 10 08:38:19.647 DEBUG: ManagerServant: CORBA SystemException cought (CORBA::TRANSIENT)
Sep 10 08:38:19.647 INFO: ManagerServant: Master manager not found
Sep 10 08:38:27.053 DEBUG: ec_worker: getComponentState() = INACTIVE_STATE done
Sep 10 08:38:27.053 DEBUG: in: disconnecting 0 connections.
Sep 10 08:38:27.053 DEBUG: ConsoleOut0: Deactivating Execution Context.
Sep 10 08:38:27.053 DEBUG: ConsoleOut0: Deactivating EC done.
Sep 10 08:38:27.054 DEBUG: periodic_ec: Thread terminated.
Sep 10 08:38:27.055 DEBUG: ConsoleOut0: Cleanup on Manager
Sep 10 08:38:27.056 DEBUG: manager: Factory found: ConsoleOut
Sep 10 08:38:27.056 DEBUG: manager: No pending works of ORB. Shutting down POA and ORB.
Sep 10 08:38:27.056 DEBUG: manager: POA Manager was deactivated.
Sep 10 08:38:27.057 DEBUG: manager: POA was destroid.
Sep 10 08:38:27.057 DEBUG: manager: ORB was shutdown.
Sep 10 08:38:27.057 DEBUG: manager: ORB was destroied.