Franka Emika Panda and Clearpath Ridgeback simulation

asked 2022-01-11 10:24:56 -0600

Tahir M. gravatar image

updated 2022-01-31 08:40:36 -0600

lucasw gravatar image

I have an integrated Clearpath Ridgeback with Franka Emika Panda. I have updated the URDF and all Gazebo elements accordingly. The URDF seems fine and depicts the original robot and I also verified the gazebo tags for all link and joints in the robot.

My problem is that the simulation does not work when run with one model. But works for each robot i.e. Ridgeback and Panda. The thing is sometimes Gazebo does not launch complaining gzserver died and sometime Gazebo launches but with errors.

Here is the log for the simulation

      roslaunch mbs_rp_gazebo mbs_ridgeback_world.launch 
  ... logging to /home/mbs/.ros/log/5ab89c78-72f9-11ec-94b9-a7c0ea6e7c37/roslaunch-Development-3986.log
  Checking log directory for disk usage. This may take a while.
  Press Ctrl-C to interrupt
  Done checking log file disk usage. Usage is <1GB.

  started roslaunch server http://Development:34975/

  SUMMARY
  ========

  PARAMETERS
  * /ekf_localization/base_link_frame: base_link
  * /ekf_localization/frequency: 50
  * /ekf_localization/imu0: /imu/data
  * /ekf_localization/imu0_config: [False, False, Fa...
  * /ekf_localization/imu0_differential: False
  * /ekf_localization/odom0: /ridgeback_veloci...
  * /ekf_localization/odom0_config: [False, False, Fa...
  * /ekf_localization/odom0_differential: False
  * /ekf_localization/odom_frame: odom
  * /ekf_localization/two_d_mode: True
  * /ekf_localization/world_frame: odom
  * /gazebo/enable_ros_network: True
  * /gazebo_ros_control/pid_gains/front_left_wheel/d: 0
  * /gazebo_ros_control/pid_gains/front_left_wheel/i: 0.1
  * /gazebo_ros_control/pid_gains/front_left_wheel/p: 1
  * /gazebo_ros_control/pid_gains/front_right_wheel/d: 0
  * /gazebo_ros_control/pid_gains/front_right_wheel/i: 0.1
  * /gazebo_ros_control/pid_gains/front_right_wheel/p: 1
  * /gazebo_ros_control/pid_gains/rear_left_wheel/d: 0
  * /gazebo_ros_control/pid_gains/rear_left_wheel/i: 0.1
  * /gazebo_ros_control/pid_gains/rear_left_wheel/p: 1
  * /gazebo_ros_control/pid_gains/rear_right_wheel/d: 0
  * /gazebo_ros_control/pid_gains/rear_right_wheel/i: 0.1
  * /gazebo_ros_control/pid_gains/rear_right_wheel/p: 1
  * /lift_joint_position_controller/gains/d: 0
  * /lift_joint_position_controller/gains/i: 0.1
  * /lift_joint_position_controller/gains/p: 1
  * /lift_joint_position_controller/joint: mbs_lift_joint
  * /lift_joint_position_controller/type: position_controll...
  * /lift_joint_state_controller/publish_rate: 50
  * /lift_joint_state_controller/type: joint_state_contr...
  * /panda/arm_id: panda
  * /panda/cartesian_impedance_example_controller/arm_id: panda
  * /panda/cartesian_impedance_example_controller/joint_names: ['panda_joint1', ...
  * /panda/cartesian_impedance_example_controller/type: franka_example_co...
  * /panda/force_example_controller/arm_id: panda
  * /panda/force_example_controller/joint_names: ['panda_joint1', ...
  * /panda/force_example_controller/type: franka_example_co...
  * /panda/franka_gripper/arm_id: panda
  * /panda/franka_gripper/finger1/gains/d: 20
  * /panda/franka_gripper/finger1/gains/i: 25
  * /panda/franka_gripper/finger1/gains/p: 100
  * /panda/franka_gripper/finger2/gains/d: 20
  * /panda/franka_gripper/finger2/gains/i: 25
  * /panda/franka_gripper/finger2/gains/p: 100
  * /panda/franka_gripper/type: franka_gazebo/Fra...
  * /panda/franka_state_controller/arm_id: panda
  * /panda/franka_state_controller/joint_names: ['panda_joint1', ...
  * /panda/franka_state_controller/publish_rate: 30
  * /panda/franka_state_controller/type: franka_control/Fr...
  * /panda/joint_state_publisher/rate: 30
  * /panda/joint_state_publisher/source_list: ['franka_state_co...
  * /panda/m_ee: 0.76
  * /panda/model_example_controller/arm_id: panda
  * /panda/model_example_controller/type: franka_example_co...
  * /panda/robot_description: <?xml version="1....
  * /ridgeback_joint_publisher/publish_rate: 50
  * /ridgeback_joint_publisher/type: joint_state_contr...
  * /ridgeback_velocity_controller/angular/z/has_acceleration_limits: True
  * /ridgeback_velocity_controller/angular/z/has_velocity_limits: True
  * /ridgeback_velocity_controller/angular/z/max_acceleration: 1.0
  * /ridgeback_velocity_controller/angular/z/max_velocity: 2.0
  * /ridgeback_velocity_controller/back_left_wheel_joint: rear_left_wheel
  * /ridgeback_velocity_controller/back_right_wheel_joint: rear_right_wheel
  * /ridgeback_velocity_controller/cmd_vel_timeout: 0.25
  * /ridgeback_velocity_controller/enable_odom_tf: False
  * /ridgeback_velocity_controller/front_left_wheel_joint: front_left_wheel
  * /ridgeback_velocity_controller/front_right_wheel_joint: front_right_wheel
  * /ridgeback_velocity_controller/linear/x/has_acceleration_limits: True
  * /ridgeback_velocity_controller/linear/x/has_velocity_limits: True
  * /ridgeback_velocity_controller/linear/x/max_acceleration: 2.5
  * /ridgeback_velocity_controller/linear/x/max_velocity: 1.1
  * /ridgeback_velocity_controller/linear/y/has_acceleration_limits: True
  * /ridgeback_velocity_controller/linear/y/has_velocity_limits: True
  * /ridgeback_velocity_controller/linear/y/max_acceleration: 2.5
  * /ridgeback_velocity_controller/linear/y/max_velocity: 1.1
  * /ridgeback_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
  * /ridgeback_velocity_controller/publish_rate: 50
  * /ridgeback_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
  * /ridgeback_velocity_controller/type: mecanum_drive_con...
  * /ridgeback_velocity_controller/wheel_radius_multiplier: 1.0
  * /ridgeback_velocity_controller/wheel_separation_multiplier ...
(more)
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Comments

I am working on simmilar task but with dingo robot and panda and I had the same error with Segmentation fault (core dumped). The cause in my case was not properly providing

No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/mbs_lift_joint

In my launch file to start simulation and spawn model, I am loading parameters

  <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
  <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
  <rosparam command="load" file="$(find dingo_gazebo)/config/gains_omni.yaml"/>

and first two are overwriting the namespace used by the third one, so it cannot be found. I changed the gains_omni.yaml to match the namespace and when found, the error was gone for me. But I am still working on launching both robots in simulation.

Marabir gravatar image Marabir  ( 2022-12-13 17:19:05 -0600 )edit