mc_rtc学习：Failed to parse corba.master_manager, use 2810

问题：

Execution of Python script "sim_mc.py" has been started.
[rtm.py] nshost already set as localhost
[rtm.py] nsport already set as 2809
[rtm.py] Failed to parse corba.master_manager, use 2810
[rtm.py] configuration ORB with localhost:2809
[rtm.py] configuration RTCManager with localhost:2810
[rtm.py] trying to findRTCManager on port2810
creating components
[rtm.py] trying to findRTCManager on port2810
The execution of Python script "sim_mc.py" failed.
AttributeError: 'NoneType' object has no attribute 'service'

At:
  /usr/share/hrpsys/samples/test02/sim_mc.py(96): createComps
  /usr/share/hrpsys/samples/test02/sim_mc.py(166): init
  /usr/share/hrpsys/samples/test02/sim_mc.py(240): <module>

loading 
 cannot be found.
Retrying to load the file as a standard VRML file
 cannot be found.
loading failed.
 cannot be found.

原因及解决办法

缺少hrpsys各个RT组件配置文件说明，修改rtc.conf.choreonoid，指定各个RT组件的配置文件

corba.nameservers: localhost:2809
naming.formats: %n.rtc
logger.enable: YES
logger.log_level: NORMAL
logger.file_name: stdout
exec_cxt.periodic.type: ChoreonoidPeriodicExecutionContext
exec_cxt.periodic.rate: 10
manager.shutdown_onrtcs: NO
manager.is_master: YES
manager.refstring_path: /tmp/rtcmanager.ref
manager.modules.load_path: /usr/lib
manager.modules.search_auto: NO
example.RobotHardware.config_file: RobotHardware.conf
example.SequencePlayer.config_file: robot.conf
example.KalmanFilter.config_file: robot.conf
example.Stabilizer.config_file: robot.conf
example.WalkGenerator.config_file: robot.conf
example.StateHolder.config_file: robot.conf
example.PDcontroller.config_file: PDcontroller.conf.choreonoid
example.OccupancyGridMap3D.config_file: robot.conf
example.LocalStepPlanner.config_file: robot.conf
example.LocalStepPlanner2.config_file: robot.conf
example.VirtualCamera.config_file: VirtualCamera.conf
example.ForwardKinematics.config_file: robot.conf
example.ReachingPlanner.config_file: robot.conf
example.PanTilt.config_file: robot.conf
example.PathPlayer.config_file: robot.conf
example.RobotController.config_file: robot.conf
example.RobotController2.config_file: robot.conf
example.PositionManager.config_file: robot.conf
example.PositionManager2.config_file: robot.conf
example.Swinger.config_file: robot.conf
example.HumanoidMotionControl2.config_file: robot.conf
example.LandingStateEstimator.config_file: robot.conf
example.FloorMeasureSim.config_file: robot.conf
example.EnvMeasureSim.config_file: robot.conf
example.RobotGateway.config_file: robot.conf
example.ReachingPlannerAIK.config_file: robot.conf
example.PostureGenerator.config_file: robot.conf
example.Standup.config_file: robot.conf
example.StancePlanner.config_file: robot.conf
example.ModelRemover.config_file: robot.conf
example.AccelerationChecker.config_file: robot.conf
example.SelfCollisionChecker.config_file: robot.conf
example.MotionGenerator.config_file: robot.conf
example.FallBreaker.config_file: robot.conf
example.SoftwareEmergency.config_file: robot.conf