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Unexpected behavior when trying to set position of PR2 arm in Gazebo

asked 2012-07-08 16:29:03 -0500

clee2693 gravatar image

updated 2012-07-18 19:43:59 -0500

Hi,
I am using Fuerte on Ubuntu 11.10.
In Gazebo, I have been using the SetModelConfiguration method suggested here to move a PR2 arm to a certain position. It was working fine for the past several months, but recently I have gotten some unexpected behavior. When I make a service call to /gazebo/set_model_configuration, the robot seems to do a reset to an initial position before trying to set the requested position. This reset also seems to make the robot jump around a little.
I was wondering if anyone else has used this SetModelConfiguration method and has experienced a similar problem.
Thank you

Update: When I try to move an arm through a path in small steps, the shifting is more prominent, and the robot eventually just falls through the floor.

Also, I should have posted the following code before. It is what I am using to call set_model_configuration for moving the arm.

set_model_config_client = rospy.ServiceProxy("/gazebo/set_model_configuration", SetModelConfiguration)
req = SetModelConfigurationRequest()
req.model_name = "pr2"
req.urdf_param_name = "robot_description"
req.joint_names = rospy.get_param("/%s/joints" % ("r_arm_controller"))
req.joint_positions = angles
rospy.wait_for_service("/gazebo/set_model_configuration")
res = set_model_config_client(req)

angles is the list of joint angles specifying the position of the right arm

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answered 2012-07-27 12:00:01 -0500

hsu gravatar image

There were some bugs in 1.6.10- release that should have been patched correctly in simulator_gazebo 1.6.11, which I have just released today. Please let me know if the problem persists. Thanks, John

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It seems to be working again. Thanks.

clee2693 gravatar image clee2693  ( 2012-08-07 20:00:59 -0500 )edit

It seems to be working fine again. Thanks.

clee2693 gravatar image clee2693  ( 2012-08-07 20:01:18 -0500 )edit

It seems to be working fine again. Thanks.

clee2693 gravatar image clee2693  ( 2012-08-07 20:01:20 -0500 )edit

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Asked: 2012-07-08 16:29:03 -0500

Seen: 666 times

Last updated: Jul 27 '12