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ABB IRB120 different in Rviz from Virtual machine than Dual boot

asked 2018-10-19 07:26:22 -0500

Redouanr21 gravatar image

updated 2018-11-05 15:02:58 -0500

Hello,

I'm trying to get my ABB IRB120 loaded in Rviz. Everything works fine. I used to work in a virtual machine using Ubuntu 18.04. When I loaded the demo.launch from the abb abb_experimental package ( https://github.com/ros-industrial/abb... ), it works fine. But the Virtual machine is a bit slow, so I decided to run a dual boot.

When I do the exact same things as on the virtual machine, I got a different result in my Rviz. My question is, how can I fix this?

Link to pictures

In the link you can see the 2 pictures. I'm using Ubuntu 18.04 on both systems and ROS Melodic.

EDIT:

Picture 1: Rviz on the virtual machine image description

Picture 2: Rviz on the dual boot image description

EDIT2:

This is the terminal output after the demo.launch:

> ... logging to /home/redouan/.ros/log/9b89edba-e120-11e8-8b50-dc85def7897f/roslaunch-Redouan-17074.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Redouan:42491/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'joints': ['joi...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group ...
(more)
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Comments

Could you please attach your images directly to this post? I've given you enough karma to do that.

If you would accept the answer to your previous question (#q305835) you would already have had enough karma.

gvdhoorn gravatar imagegvdhoorn ( 2018-10-19 07:29:51 -0500 )edit

I edited the pictures above.

Redouanr21 gravatar imageRedouanr21 ( 2018-10-20 09:06:24 -0500 )edit

That's great. What about #q305835?

gvdhoorn gravatar imagegvdhoorn ( 2018-10-21 05:42:32 -0500 )edit

I'm still stuck at this question. I only added the pictures in the question. Do you know anything how I can resolve this?

About #q305835: I was very busy lately, but I wil try it next week or the week after. I will let you know if it worked.

Redouanr21 gravatar imageRedouanr21 ( 2018-10-21 06:34:35 -0500 )edit

I'm confused: #q305835 asks how to install and use the packages under Melodic. Your current question is also about Melodic. Have you figured out how to use the packages under Melodic (and this resolved #q305835) or not?

gvdhoorn gravatar imagegvdhoorn ( 2018-10-21 07:41:33 -0500 )edit

As to this question: you should update your question with the commands you use to start everything. The screenshots are nice, but don't really tell us that much.

gvdhoorn gravatar imagegvdhoorn ( 2018-10-21 07:42:10 -0500 )edit

I'm sorry for the confusion. #q305835 is about the connection with the real robot. I understand the package partly. Next week I will try to connect it to te real robot.

Redouanr21 gravatar imageRedouanr21 ( 2018-10-21 08:09:59 -0500 )edit

But this question is about the simulation of the robot.

On both systems I used the following command: roslaunch abb_irb120_moveit_config demo.lauch. On the Virtual machine it ended up as in pic 1 and on the dual boot it ended up as in pic 2.

Does this clear anything up?

Redouanr21 gravatar imageRedouanr21 ( 2018-10-21 08:11:42 -0500 )edit

1 Answer

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answered 2018-11-07 06:50:16 -0500

gvdhoorn gravatar image

@Redouanr21: I'm thinking you may be running into ros/urdfdom_headers#41.

Can you verify what the locale settings are in your VM and in your native installation?

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Comments

I checked https://github.com/ros-industrial/uni... this site and eventually run this command: export LC_NUMERIC="en_US.UTF-8"

And then it works. Thank you for helping me! I will close this question.

Redouanr21 gravatar imageRedouanr21 ( 2018-11-08 03:59:56 -0500 )edit

Let's just mark it as answered by ticking the checkmark to the left of the answer.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 04:00:52 -0500 )edit

Also: please note that overriding the LC_NUMERIC env var is a work-around, only needed until the PRs referred to in the various issues are merged and the updated versions released into Ubuntu Bionic.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 04:02:02 -0500 )edit

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Asked: 2018-10-19 07:26:22 -0500

Seen: 123 times

Last updated: Nov 05 '18