cob3-9 Simulation

[ipa320]

cob3-9 Simulation

[fmessmer]

I'll answer in English for other to be able to find this response useful:

//------- Fehler A -----------
ERROR: parameter [/objects] is not set

This is not an error actually. It comes from this line. This makes sure any parameter value from previous runs are deleted (i.e. if you did not shutdown the roscore for example)

//------- Fehler B -----------
ERROR: parameter [/diagnostic_aggregator/diagnostic_aggregator] is not set

Same as above, coming form this line

//------------ Warnung A ------------
[ WARN] [1439833261.478869300]: Parameter 'marker_frame' is missing. Using default Value: /base_link

This is not to bad either, it tells you that there is a parameter not set (but it has a meaningful default). It is used by cob_light (see here) to visualize the current color of the LED as a visualization_msgs::Marker in rviz. See the config file for cob4-2 and modify if desired in the config file for cob3-9

//------------ Warnung B ------------
[ WARN] [1439833261.548182269]: Serial connection on /dev/ttyLed failed.

This is due a parameter not being set (see here). This is because we use the same config file for simulation and real hardware....I confess this is not ideal....I'll see what I can do

//------------ Warnung D ------------
[ WARN] [1439833286.571222156, 10.010000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!

Something seems to be wrong with the controller configuration of the PG70 gripper and/or the mimic joint in the pg70 urdf.

Could you try to add joint_names: [pg70_finger_left_joint, pg70_finger_right_joint] to the config file and see whether that helps? If not please compare pg70 to sdh (config and urdf)

I guess this is also the reason, why the pg70 appears weird in gazebo...it just does not get a proper joint_command/joint_state

[fmessmer]

As to your second question related to /cam3d/depth_registered/points, I guess you see the topic because another node subscribes to it. Can you verify that by typing:

rostopic info /cam3d/depth_registered/points

According to the gazebo plugin for the kinect, it should publish to this topic. Do you find any other topics with depth_registered in rostopic list | grep depth_registered? Maybe the topic got a wrong namespace?

[fmessmer]

As to adding the pg70 to the cob_moveit_config, have a look at the robot.srdf of cob4-2. You might need to add something like this to the robot.srdf of cob3-9.

However, you should make sure, you get the pg70 to work correctly, before you do this.
Also, you might want to re-compute the self-collision matrix in the Moveit! SetupAssistant

[fmessmer]

@xwhm
I solved most of the problems already in the following PRs:

• ipa320/schunk_modular_robotics#146
• ipa320/cob_robots#325
• ipa320/cob_robots#326

[xwhm]

//------------ Warnung D ------------
[ WARN] [1439833286.571222156, 10.010000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!

Something seems to be wrong with the controller configuration of the PG70 gripper and/or the mimic joint in the pg70 urdf.
Could you try to add joint_names: [pg70_finger_left_joint, pg70_finger_right_joint] to the config file and see whether that helps?

I use the IPA package from here: https://github.com/ipa320/cob_robots/tree/indigo_dev/cob_hardware_config/cob3-9/config and just added ,,joint_names: [pg70_finger_left_joint, pg70_finger_right_joint]" in gripper_controller.yaml - doesn't fixed the problem. But actually the original parameter from the link above are just for the pg70_finger_left_joint. How should I add the right one correctly? I mean there are other config files that works with just pg70_finger_left_joint should I modify all of them?

If not please compare pg70 to sdh (config and urdf)

I've checked the pg70.urdf.xacro and how to fixed it to the schunk_pg70_palm_joint and here for example https://github.com/ipa320/schunk_modular_robotics/blob/indigo_dev/schunk_description/urdf/pg70/pg70.urdf.xacro#L44 in y axis should not be a zero (same for right joint). But that is just my personal opinion. Is that correct?

I guess this is also the reason, why the pg70 appears weird in gazebo...it just does not get a proper joint_command/joint_state

I also think so. Indeed I had just clone the packages from IPA320 github and there are already these issues. Do you have a full functional Gazebo cob3-9 model, if you download the packages at IPA320 github? If you do, can you send it to me?

---

As to your second question related to /cam3d/depth_registered/points, I guess you see the topic because another node subscribes to it. Can you verify that by typing:
rostopic info /cam3d/depth_registered/points
According to the gazebo plugin for the kinect, it should publish to this topic. Do you find any other topics with depth_registered in rostopic list | grep depth_registered? Maybe the topic got a wrong namespace?

After starting started cob_bringup_sim :

$ rostopic info /cam3d/depth_registered/points
Output:
Type: sensor_msgs/PointCloud2
Publishers:

• /gazebo (http://10.179.7.14:33495/)
  Subscribers:
• /cam3d_relay_depth_points (http://10.179.7.14:53643/)

$rostopic list | grep depth_registered
Output:
/cam3d/depth_registered/camera_info
/cam3d/depth_registered/points
/cam3d_throttled/depth_registered/points

I need ,,/cam3d/depth_registered/points'' in rviz but it isn't there. If there is a false namespace where can I modify the file?

---

[fmessmer]

As I wrote above:

I already fixed the problem with the pg70.
There were adjustments required in cob_robots and schunk_modular_robotics. The PullRequests have been send and are currently reviewed.
If you want to test them, you need to pull the according branches from my (i.e. ipa-fxm) forks of cob_robots and schunk_modular_robotics.

---

As to the cam3d: I need to investigate that a bit further

[xwhm]

I edited the files about the gripper that you posed above. There are just changes in the color but the grippers are in the same position. Do you guys have another idea?
I solved the problem with the /cam3d/depth_registered/points - but I also need the topic /cam3d/depth_registered/image_raw but actually it is also just in the real robot and not in gazebo. How to start it?

[fmessmer]

Again, the problem has been fixed in the above mentioned PRs to schunk_modular_robotics and cob_robots. Ì just merged the last missing PR into ipa320 cob_robots indigo_dev branch.
Thus, if you undo your local changes and pull again from those two repositories, the PG70 gripper should be working fine...

---

As to the topic for the cam3d:
Topic names are specified within the gazebo plugin in the URDF of the sensor (see here). You could either change the names there or use a remap within your conumer node's launch file.

[fmessmer]

All fixes have been merged and will soon be available from debs after next sync.
Can this be closed? @xwhm

[fmessmer]

closing