neobotix/neo_simulation

Package to simulate Neobotix robots

neo_simulation's Issues

mm_400 with pilz arm is not working in kinetic

Hello,

The mm_400 robot with Pilz arm in the kinetic branch has an erratic behavior. The main issue is with the base having an erratic behavior when the robot is tried being operated using the teleop commands from the keyboard.

As an alternate you can test our mm-400 with Franka-Emika panda arm until we come up with a solution.

Thanks!

Remove the redundancy of the robot components (arms, scanners and cameras)

Broken link to Docs

The docs website link https://docs.neobotix.de/ doesn't work.

More specifically, the DNS seems to be misconfigured:

$> dig docs.neobotix.de

; <<>> DiG 9.18.1 <<>> docs.neobotix.de
;; global options: +cmd
;; Got answer:
;; ->>HEADER<<- opcode: QUERY, status: NXDOMAIN, id: 58286
;; flags: qr rd ra; QUERY: 1, ANSWER: 0, AUTHORITY: 1, ADDITIONAL: 1

;; OPT PSEUDOSECTION:
; EDNS: version: 0, flags:; udp: 65494
;; QUESTION SECTION:
;docs.neobotix.de.		IN	A

;; AUTHORITY SECTION:
neobotix.de.		260	IN	SOA	ns1019.ui-dns.biz. hostmaster.schlund.de. 2017060348 28800 7200 604800 300

;; Query time: 0 msec
;; SERVER: 127.0.0.53#53(127.0.0.53) (UDP)
;; WHEN: Fri Apr 01 08:15:30 CEST 2022
;; MSG SIZE  rcvd: 117

Though I found some documentation at https://neobotix-docs.de/ros/
Did you forget to update the link?

Automate the setup

Rather than the user required to install and build each and every individual package. Add a script that could do all with a single command. By that way the entire catkin_workspace can be built in a single go.

pointcloud_to_laserscanner plugin to test the navigation with the camera

Light Scan Sim Error

Im having an issue that may or may not just be setup related. Im trying to get the mp_500 to run in neo_workshop autonomously by running the roslaunch neo_simulation mp_500_autonomous_navigation.launch command and I have followed the instructions posted here but Im getting these errors:

• ERROR: cannot launch node of type [light_scan_sim/visualize_segment_list.py]: light_scan_sim
• ERROR: cannot launch node of type [light_scan_sim/light_scan_sim_node]: light_scan_sim

If this is not the correct place for this please let me know!

Warnings in RVIZ with loading local and global cost maps

Ive been looking into this while trying to run the mp_500 on the 'neo_workshop' map (export MAP_NAME=neo_workshop). After cloning the neo_simulation folder into my workspace and building and sourcing I then run the roslaunch neo_simulation simulation.launch command. I think it is a configuration issue somewhere in a yaml file but I havent found it yet.

Im trying to run the robot autonomously so I kill the teleop node but then set a goal navigation point I get no path or response.

missing imu xacro for mp_500

I have cloned the repository to try out the simulation and there was problem with mp_500 model:

No such file or directory: /home/fairfax/ROS/middleware/src/neo_simulation/robots/mp_500/xacros/imu.xacro                               
when processing file: /home/fairfax/ROS/middleware/src/neo_simulation/robots/mp_500/mp_500.urdf.xacro

The file is indeed missing - I have fixed this by copying and modifying the imu.xacro from mp_400 model but I am not sure whether there is a difference between the two models or not.

Service /gazebo/spawn_urdf_model takes too long and crashes

I am trying to run the simulation as it is provided in the simulation.launch file but the robot is not spawning in the world and it actually crashes after waiting a certain amount of time (12155.9 s).
System Setup:
Linux Ubuntu 20.04, ROS Noetic
The log is:
[INFO] [1664273133.451913, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1664273133.457132, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1664273133.647593423]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1664273133.648496335]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1664273133.682564666]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1664273133.683561957]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1664273134.221060119]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1664273134.236771343]: Physics dynamic reconfigure ready.
[INFO] [1664273134.361699, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1664273226.082843, 12155.856000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name mpo_700
[ERROR] [1664273226.086029, 12155.856000]: Spawn service failed. Exiting.
[ INFO] [1664273226.126631173, 12155.856000000]: NeoLocalizationNode: Got new map with dimensions 4000 x 4000 and cell size 0.05
[ INFO] [1664273226.421361039, 12155.856000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1664273226.423358019, 12155.856000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1664273226.431783112, 12155.856000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1664273226.431843769, 12155.856000000]: Starting Laser Plugin (ns = /)
[ INFO] [1664273226.432931719, 12155.856000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1664273226.672805006, 12155.856000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1664273226.672840404, 12155.856000000]: Starting Laser Plugin (ns = /)
[ INFO] [1664273226.673595608, 12155.856000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[mpo_700_spawn-6] process has died [pid 573515, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -param robot_description -model mpo_700 __name:=mpo_700_spawn __log:=/home/ammar/.ros/log/ec0efcee-3e4b-11ed-a2a5-eba4cbc793ea/mpo_700_spawn-6.log].
log file: /home/ammar/.ros/log/ec0efcee-3e4b-11ed-a2a5-eba4cbc793ea/mpo_700_spawn-6*.log
[ INFO] [1664273227.107313713, 12155.856000000]: Loading gazebo_ros_control plugin
[ INFO] [1664273227.107396975, 12155.856000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1664273227.107912673, 12155.856000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1664273227.221107826, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_caster_front_left_joint
[ERROR] [1664273227.221723751, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_wheel_front_left_joint
[ERROR] [1664273227.222354252, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_caster_back_left_joint
[ERROR] [1664273227.222925304, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_wheel_back_right_joint
[ERROR] [1664273227.223497324, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_caster_back_right_joint
[ERROR] [1664273227.224030442, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_wheel_front_right_joint
[ERROR] [1664273227.224508270, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_caster_front_right_joint
[ERROR] [1664273227.225011610, 12155.856000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/mpo_700_wheel_back_left_joint
[ INFO] [1664273227.228183139, 12155.856000000]: Loaded gazebo_ros_control.
[ WARN] [1664273227.234705037, 12155.856000000]: PlanarMovePlugin (ns = /) missing , defaults to -1.000000
[ WARN] [1664273227.238539328, 12155.866000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 12155.9 timeout was 0.1.

"The minimum corner of the box must be less than or equal to maximum corner" failed.

Ar_tags models do not appear when I open neo_docking world in gazebo. This error occurs when I click on the model

In simulation wheels don't seem to move?

I Simulated MPO-700 in ROS Kinetic (kinetic branch) and am able to actuate the robot in x and y directions. I however noticed that the wheels don't seem to rotate and the robot appears to be sliding.

I also tried with unicycle controls (v and w). Still can't see the wheels rotating or steering. Is this expected behavior? Kindly help.

cabinet for MMO-700 is shifted

The right values are X is 0.025 and Y is 0

where to find the plugins for the robot and gazebo

Hello there,

I am trying to create a simulator using this robot for ignition gazebo. I have a few queries

1. Where do I find the plugins for the robot and gazebo?

.world can't be loaded in Gazebo7 & ROS Kinetic

Hi, thanks for your work!
I am simulating MPO-500, however neo_track2.world and neo_workshop.world can't be loaded in gazebo7, it keeps showing black screen. Everything works fine for other .world. I have pasted all models in folder "/models" to ".gazebo/models". Am I negligent elsewhere?

cob_scan_unifier not showing in rviz

When selecting the topic for LaserScan it only prompts for Laser1 or Laser2 respectively, even though the original param for the rviz config is the cob_scan_unifier, nevertheless, this value doesn't show the laser scans in rviz, while the other scans separately do.

All of this is done in Ubuntu 20.04, ROS Noetic, neo_simulation for MPO_700, with gmapping true, moving_base true, others args to false. Executing the main simulation.launch file.

Am I missing something? Thanks ;)

How to set ROBOT environment

When i try to run its launch file, it need to set MAP_NAME and ROBOT environments !
Could you tell me how to set it ?

CMakeLists edit for AWS Robomaker

Hello

I've used your excellent package as part of a picking task simulation on AWS Robomaker, in which I use some of your macros to construct an MMO-700 with some customizations. However, I had to edit your CMakeLists.txt to get the macros available from my own package under the colcon build system. Specifically, I found I needed to add the following to the install section:

install(DIRECTORY robots
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

Happy to do this as a fork and a pull request if you like - but it seems a faff for such a tiny update.

Thanks,

Arthur Richards, Bristol Robotics Lab