shadow_hand spawn on gazebo electric don't move

asked 2013-02-07 03:03:24 -0500

92 ●20 ●22 ●31

updated 2013-02-13 02:54:21 -0500

hi,

i have an haptic glove, and im using it to move the fingers of the shadow hand spawn on gazebo electric. first i was working on fuerte and doesn't a problem all was good, but i have to down to electric for collision part that i need and on fuerte gazebo version is broken.

the values of sensors are publishing on this topics

sh_mfj3_mixed_position_velocity_controller/command
  sh_mfj0_mixed_position_velocity_controller/command
  sh_lfj3_mixed_position_velocity_controller/command
  sh_lfj0_mixed_position_velocity_controller/command
  sh_ffj3_mixed_position_velocity_controller/command
  sh_ffj0_mixed_position_velocity_controller/command

well, the same sh_xf#_mixed_position_velocity_controller/command for the 5 fingers.

to spawn shadow_hand i use

roslaunch sr_hand gazebo_hand.launch

EDIT: well i'm thinking is an error or here miss something. see when i run this on fuerte the rxgraph show me the node of the communication and the publishin on the topics of contrtollers like see in the image image description

but it electric is happenin this image description

here is like the hand looks after some minutes, and nothing happens when is running rostopic pub image description

Log when run roslaunch sr_hand gazebo_hand.launch

> virtualtouch@ubuntu:~$ roslaunch sr_hand gazebo_hand.launch
... logging to /home/virtualtouch/.ros/log/cb943592-7169-11e2-8331-001e8cf5030c/roslaunch-ubuntu-2015.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://ubuntu:55616/

SUMMARY
========

PARAMETERS
 * /sh_ffj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /use_sim_time
 * /sh_thj4_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_rfj3_mixed_position_velocity_controller/type
 * /sh_wrj2_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_wrj1_mixed_position_velocity_controller/velocity_pid/d
 * /sh_thj5_mixed_position_velocity_controller/joint
 * /sh_thj1_mixed_position_velocity_controller/joint
 * /sh_thj3_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_thj1_mixed_position_velocity_controller/type
 * /sh_rfj4_mixed_position_velocity_controller/position_pid/p
 * /sh_mfj3_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_thj1_mixed_position_velocity_controller/velocity_pid/i_clamp
 * /sh_thj4_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_mfj0_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_thj2_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_thj2_mixed_position_velocity_controller/type
 * /sh_mfj3_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_lfj3_mixed_position_velocity_controller/position_pid/d
 * /sh_wrj2_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_rfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_rfj3_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_lfj0_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_ffj4_mixed_position_velocity_controller/type
 * /sh_lfj5_mixed_position_velocity_controller/type
 * /sh_ffj0_mixed_position_velocity_controller/position_pid/i
 * /sh_mfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_rfj3_mixed_position_velocity_controller/position_pid/i_clamp
 * /sh_wrj2_mixed_position_velocity_controller/velocity_pid/p
 * /sh_lfj4_mixed_position_velocity_controller/velocity_pid/d
 * /sh_mfj3_mixed_position_velocity_controller/position_pid/d
 * /sh_ffj0_mixed_position_velocity_controller/type
 * /sh_wrj1_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_lfj5_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_wrj2_mixed_position_velocity_controller/velocity_pid/i
 * /sh_thj5_mixed_position_velocity_controller/position_pid/d
 * /sh_lfj5_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_thj5_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_thj2_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_thj2_mixed_position_velocity_controller/position_pid/d
 * /sh_rfj0_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_wrj2_mixed_position_velocity_controller/velocity_pid/d
 * /sh_thj2_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_ffj4_mixed_position_velocity_controller/joint
 * /sh_rfj3_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_wrj1_mixed_position_velocity_controller/velocity_pid/i
 * /sh_lfj5_mixed_position_velocity_controller/velocity_pid/i
 * /sh_thj5_mixed_position_velocity_controller/position_pid/i_clamp
 * /sh_ffj3_mixed_position_velocity_controller/velocity_pid/i
 * /sh_lfj4_mixed_position_velocity_controller/velocity_pid/i_clamp
 * /sh_wrj1_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_ffj3_mixed_position_velocity_controller/velocity_pid/d
 * /sh_lfj5_mixed_position_velocity_controller/position_pid/i_clamp
 * /sh_ffj4_mixed_position_velocity_controller/velocity_pid/i_clamp
 * /sh_mfj4_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_thj4_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_ffj4_mixed_position_velocity_controller/velocity_pid/p
 * /sh_lfj3_mixed_position_velocity_controller/velocity_pid/p
 * /sh_mfj3_mixed_position_velocity_controller/velocity_pid/p
 * /sh_thj2_mixed_position_velocity_controller/position_pid/min_velocity
 * /sh_thj4_mixed_position_velocity_controller/velocity_pid/p
 * /sh_thj4_mixed_position_velocity_controller/type
 * /sh_lfj3_mixed_position_velocity_controller/velocity_pid/i
 * /sh_mfj3_mixed_position_velocity_controller/velocity_pid/i
 * /sh_ffj3_mixed_position_velocity_controller/joint
 * /sh_thj4_mixed_position_velocity_controller/velocity_pid/i
 * /sh_ffj4_mixed_position_velocity_controller/velocity_pid/d
 * /sh_wrj2_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_ffj4_mixed_position_velocity_controller/velocity_pid/i
 * /sh_thj4_mixed_position_velocity_controller/velocity_pid/d
 * /sh_lfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_wrj1_mixed_position_velocity_controller/type
 * /sh_lfj3_mixed_position_velocity_controller/velocity_pid/d
 * /sh_rfj4_mixed_position_velocity_controller/velocity_pid/p
 * /sh_ffj0_mixed_position_velocity_controller/position_pid/min_velocity
 * /robot_state_publisher_full_pos/publish_frequency
 * /sh_ffj4_mixed_position_velocity_controller/position_pid/i
 * /sh_rfj0_mixed_position_velocity_controller/position_pid/d
 * /sh_ffj4_mixed_position_velocity_controller/position_pid/d
 * /sh_ffj0_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_mfj0_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_thj3_mixed_position_velocity_controller/type
 * /sh_mfj3_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_ffj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_thj3_mixed_position_velocity_controller/velocity_pid/i_clamp
 * /sh_ffj4_mixed_position_velocity_controller/position_pid/p
 * /sh_mfj3_mixed_position_velocity_controller/joint
 * /sh_lfj4_mixed_position_velocity_controller/type
 * /sh_thj2_mixed_position_velocity_controller/position_pid/p
 * /sh_thj3_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_thj5_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_thj2_mixed_position_velocity_controller/joint
 * /sh_lfj0_mixed_position_velocity_controller/type
 * /sh_lfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband
 * /sh_ffj3_mixed_position_velocity_controller/type
 * /sh_wrj2_mixed_position_velocity_controller/position_pid/p
 * /sh_lfj3_mixed_position_velocity_controller/position_pid/i_clamp
 * /sh_rfj0_mixed_position_velocity_controller/velocity_pid/p
 * /sh_rfj3_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_thj2_mixed_position_velocity_controller/position_pid/position_deadband
 * /sh_rfj0_mixed_position_velocity_controller/position_pid/max_velocity
 * /sh_lfj0_mixed_position_velocity_controller/velocity_pid/max_force
 * /sh_ffj4_mixed_position_velocity_controller/velocity_pid ...

(more)

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Comments

what does rostopic echo /sh_mfj3_mixed_position_velocity_controller/command return? And what happens if you do: rostopic pub /sh_mfj3_mixed_position_velocity_controller/command std_msgs/Float64 1.0?

Ugo ( 2013-02-07 03:19:16 -0500 )edit

well if i run rostopic echo, shows me the values of the sensor, but don't move, and if i run rostopic pub , doesn't move

monidiaz ( 2013-02-07 03:28:21 -0500 )edit

Is gazebo properly running? Are you getting the data from gazebo? (rostopic echo /joint_states (or maybe rostopic echo /gazebo/joint_states?)

Ugo ( 2013-02-07 03:47:26 -0500 )edit

i though gazebo was properly running, but in fact whe run gazebo/joint_states , don't show me anuthing and i get a WARNING: no messages received and simulated time is active. Is /clock being published? . and it's suppose i have running gazebo with the hand. :'( :S

monidiaz ( 2013-02-07 03:52:09 -0500 )edit

Could I get the full log for the command: "roslaunch sr_hand gazebo_hand.launch" ?

Ugo ( 2013-02-07 19:34:19 -0500 )edit

i don't know what happen 'cause i tried installing ros-Groovy altough is kind slowly , the same thing is happenin, the shadow , don't move.

monidiaz ( 2013-02-12 08:32:17 -0500 )edit

From what I see in the log you added, you haven't built sr_gazebo_plugins. To make sure you build everything needed, you should build the whole stack (rosmake shadow_robot).

Ugo ( 2013-02-12 19:32:41 -0500 )edit

well i did the rosmake shadow_robot but it gives to me an error, i edit the question with the answer i did to the export of the package path and th source ~/shadow/setup.bash

monidiaz ( 2013-02-13 02:57:44 -0500 )edit

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