hannuaa's profile - activity

Hi , everyone. Now, I add a contact sensor for the robot in xacro file, as follow:

<gazebo reference="${robot_name}left_lower_arm">
   <selfCollide>false</selfCollide>
   <sensor type="contact" name="left_lower_arm_contact_sensor">
      <update_rate>100.0</update_rate>
      <contact>
        <collision>${robot_name}left_lower_arm_geom</collision>
      </contact>

      <plugin name="left_lower_arm_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bumperTopicName>${robot_name}left_lower_arm_contact</bumperTopicName>
      </plugin>
   </sensor>
   <material>PR2/Grey2</material>
</gazebo>

I can get the data of the contact sensor by typing "rostopic echo r2/left_lower_arm_contact". But when I program in the controller to get the sensor data, I get nothing. The program in the controller is as follow:

left_hand_contact_sub = node.subscribe("r2/left_lower_arm_contact", 10, &R2ImpedanceController::left_hand_contact, this);

My ROS is groovy.Any answer to these questions, or any suggestion is very welcome!

Hello! I want to simulate the force control of robots using gazebo. But I don't know how to get the force information in gazebo. I can get the joint position and velocity by pr2_mechanism_model::RobotState. However, there is no function to get the joint effort. Thank you very much

My ROS is fuerte. the "laser-perception.launch" is in http://wiki.ros.org/motion_planning_environment/Tutorials/Making%20collision%20maps%20from%20self-filtered%20tilting%20laser%20data

Hi ! I have some problems when I run a "laser-perception.launch" of PR2. The errors are:

Client [/point_cloud_assembler] wants topic /tilt_scan_cloud_filtered to have datatype/md5sum [**sensor_msgs/PointCloud**/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection

and so is the topic /tilt_scan_cloud. The topics' type is sensor_msgs/PointCloud2.

So I think the solution is that PointCloud2 should be converted to PointCloud. But I don't know how convert PointCloud2 to PointCloud in a launch file. thank you so much.

i refer to the tutorials in "http://wiki.ros.org/motion_planning_environment/Tutorials/Making collision maps from self-filtered tilting laser data" .

Hello! I have some problems when I try to get the collision map of PR2. The error is that "Client [/rviz_collision_tutorial_1] wants topic /tilt_scan_cloud_filtered to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection." My ROS is fuerte. Thank you so much.