PR2 does not move in aaai_lfd_demo [closed]

asked 2012-05-06 17:04:14 -0500

Albert K gravatar image

http://www.ros.org/wiki/aaai_lfd_demo

When I tried the demo, PR2 couldn't move between the two desks and pick-and-place the object. It just stand there doing nothing. Here is how I run this demo, including some modification and runtime errors. To see if this help for solving this problem:

Following the instruction in the website, I downloaded and compiled all the dependencies for this package.

When I tried to run the demo, I first launch:

roslaunch aaai_lfd_simulator simulation_world.launch

no errors occurred.

And then I launch this

roslaunch aaai_lfd_demo_launch aaai_lfd_simulation.launch

Before launch this .launch file, I modified manipulation_simulation.launch in openloop_object_manipulation. Because environment_server.launch is now in planning_environment, not pr2_arm_navigation_actions.

some errors occurred repeatedly:

[ERROR] [1336357382.494886308, 9.022000000]: Transform unavailable Lookup would require extrapolation into the past.  
Requested time 8.672000000 but the earliest data is at time 9.014000000, when looking up transform from frame [/base_footprint] to frame [/base_link]

[ERROR] [1336357382.798045122, 9.137000000]: WaitForTransform timed out from base_link to base_footprint after 100ms.  
Error string: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/base_footprint]

[ERROR] [1336357382.798303012, 9.137000000]: Unable to lookup transform from base_link to base_footprint.
Exception: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/base_footprint]

Although errors occurred, the torso of the PR2 can move up to the highest position:

[simple_torso-1] process has finished cleanly.

Next, I do:

rosrun openloop_object_manipulation manipulation_node.py

and get an error:

[ERROR] [WallTime: 1336357454.838957] [36.825000] Could not connect to /joint_trajectory_action of l arm.

and last:

roslaunch aaai_lfd_demo_launch aaai_lfd_executive.launch

After launching this .launch file, I expected PR2 to move back and forth between two desks and pick-and-place the object. However, as I mentioned from the beginning, it just stood there, doing nothing.

Appreciation for any suggestion, thanks!

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-12-07 01:57:36.750735