Help Building Custom BAXTER grippers

asked 2015-11-26 01:29:57 -0500

veyorokon
3 ●5 ●6 ●8

I need help figuring out these two errors. They are both related, so solving one should solve the other. I'm building custom grippers for Baxter in Ros-Indigo (ubuntu 1404.2). I've built a custom URDF file along with a custom launch file. This error is the last error I have to figure out.

 [baxter_sim_kinematics_left-6] process has died [pid 27862, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics left __name:=baxter_sim_kinematics_left __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6*.log
[baxter_sim_kinematics_right-7] process has died [pid 27921, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics right __name:=baxter_sim_kinematics_right __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7*.log

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answered 2015-11-26 08:15:58 -0500

imcmahon
790 ●7 ●16 ●21

updated 2015-12-15 09:26:06 -0500

Update: I have reworked some of the logic in Baxter's simulated Position Kinematics node to prevent it from making the assumption that I mention below. You can now have additional joints on your Baxter URDF without any naming restrictions. The fix can be viewed here: https://github.com/RethinkRobotics/ba...

Original Answer: The baxter_sim_kinematics node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings <left/right>, rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with <left/right>, it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with <l/r> or any other string that is not "left" or "right" instead. Please open a ticket for this on baxter_simulator if there isn't one already. Sorry for the inconvenience!

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Thanks that worked! Just for clarification, I went into my URDF file and adjusted all the joint names that started with: "right_..." or "left_..." to "r_..." and "l_..." respectively. Thanks for your help.