roseusでstart-auto-balancer以降が失敗する

[miettal]

下記のような状態です。

1.irteusgl$ (samplerobot-init)

;; extending gcstack 0xb765118[32738] --> 0xc0dcf70[65476] top=7fdf
[ WARN] [1436344142.571783344]: /use_sim_time is TRUE, check if /clock is pusblished or not
[ WARN] [1436344154.877318958, 155.990000000]: [/larm_controller/follow_joint_trajectory_action] action server is not found
[ WARN] [1436344154.877540674, 155.990000000]: goal=0, cancel=0, feedback=0, result=0
[ WARN] [1436344154.877694958, 155.990000000]: #<controller-action-client #Xc4830d8 /larm_controller/follow_joint_trajectory_action> is not respond, SampleRobot-interface is disabled

<samplerobot-robot #Xb92c2a8 SampleRobot 0.0 0.0 0.0 / 0.0 0.0 0.0>

2.irteusgl$ (send ri :start-auto-balancer)
[ERROR] [1436344164.937068265, 158.308000000]: attempted to call service /AutoBalancerServiceROSBridge/startAutoBalancer, but failed

<hrpsys_ros_bridge::openhrp_autobalancerservice_startautobalancerresponse #Xc1705a4>

3.irteusgl$ (send ri :angle-vector (send sr :reset-pose) 4000)

f(-0.004457 -21.6929 -0.01202 47.6723 -25.93 0.014025 17.8356 -9.13759 -6.61188 -36.456 0.0 0.0 0.0 -0.004457 -21.6929 -0.01202 47.6723 -25.93 0.014025 17.8356 9.13759 6.61188 -36.456 0.0 0.0 0.0 0.0 0.0 0.0)

4.irteusgl$ (send ri :start-auto-balancer)
[ERROR] [1436344207.766288193, 169.231000000]: attempted to call service /AutoBalancerServiceROSBridge/startAutoBalancer, but failed

<hrpsys_ros_bridge::openhrp_autobalancerservice_startautobalancerresponse #Xc209e98>

5.irteusgl$ (send ri :start-st)
[ERROR] [1436344222.010505874, 172.842000000]: attempted to call service /StabilizerServiceROSBridge/startStabilizer, but failed

<hrpsys_ros_bridge::openhrp_stabilizerservice_startstabilizerresponse #Xc2302c0>

6.irteusgl$ (send ri :go-pos -0.5 0 0)
[ERROR] [1436344233.423946853, 175.669000000]: attempted to call service /AutoBalancerServiceROSBridge/goPos, but failed
[ERROR] [1436344233.428188284, 175.670000000]: attempted to call service /AutoBalancerServiceROSBridge/waitFootSteps, but failed

<hrpsys_ros_bridge::openhrp_autobalancerservice_waitfootstepsresponse #Xc230a64>

[YuOhara]

rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch

を挙げてから少し待ってからsamplerobot-initをしてみてはどうでしょうか？

[miettal]

現状は仮想マシンで動かしているのですが、毎回、違うエラーで止まったり、gazeboが異常終了してしまったりとなかなか、うまく動いてくれません。
実機でやったらいい結果が得られるかもしれないので試してみます。