zamboni's profile - activity

any update?

Hi guys, I have the following launch file in my project:

<launch>

 <!-- Launch PR2 in empty world -->
 <include file="$(find pr2_gazebo)/pr2_empty_world.launch"/>

 <!-- send urdf to param server -->
 <param name="object1" textfile="/home/x/ros_workspace/project/objects/urdf/object1.urdf" />
 <param name="object2" textfile="/home/ros_workspace/project/objects/urdf/object2.urdf" />

 <!-- push urdf to factory and spawn robot in gazebo -->
 <node name="spawn_object1" pkg="gazebo" type="spawn_model" args="-urdf -param object1 -x 3.0 -y 3.0 -z 0.1  -model object1" respawn="false" output="screen" />
 <node name="spawn_object2" pkg="gazebo" type="spawn_model" args="-urdf -param object2 -x 2.75 -y 3.5 -z 0.25  -model object2" respawn="false" output="screen" />

</launch>

Then file /home/x/ros_workspace/project/objects/urdf/object1.urdf contains:

<robot name="litterbox_model">
  <link name="litterbox_body">
    <inertial>
      <mass value="10.0" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="1.0"  iyz="0.0"  izz="1.0" />
    </inertial>
    <visual>
        <geometry>
        <mesh filename="object1.stl"/>
      </geometry>
    </visual>
    <collision>
        <geometry>
        <mesh filename="object1.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="litterbox_body">
    <material>Gazebo/Red</material>
  </gazebo>
</robot>

and object1.stl is in the same location /home/x/ros_workspace/project/objects/urdf/

This code used to work, after a format I am not cabable of finding what is the issue. ROS aborts with the following message:

spawn status:  SpawnModel: successfully spawned model
spawning success True
Error: [/tmp/buildd/ros-diamondback-simulator-gazebo-1.2.8/debian/ros-diamondback-simulator-gazebo/opt/ros/diamondback/stacks/simulator_gazebo/gazebo/build/gazebo/server/MeshManager.cc:137]
Unable to find file[object1.stl]
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
spawning success None
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
spawning success None

any idea? I really don't know what could be the issue. Thanks

Guys, I have a problem running the following tutorial: http://www.ros.org/wiki/pcl/Tutorials

If I compile and run the file example_voxelgrid.cpp as explained, I just get nothing, simply the program hanging.

What am I doing wrong? Thanks

You have to upload URDF model of your object to ROS parameter server (object1, object2) - it's already in your launch file.

Then you have to add its display in RVIZ - type robot model (set robot description to "object1"). For object2 you have to add next robot model display.

And finally publish transformations via TF - sample code for this task is here. It's reading (one) object position from Gazebo and publishing transformation between world frame, robot base_link and object link.

uys, today I tried some simple tasks on PR2 but I ran in the following problem:

I simply run my file "both_arm_navigation.launch" which consists of:

<launch>
<!-- load perception -->
<include file="$(find pr2_arm_navigation_perception)/launch/laser-perception.launch"/>
<!-- load planning -->
<include file="$(find pr2_arm_navigation_planning)/launch/ompl_planning.launch"/>

<!-- load move_arm -->
<include file="$(find pr2_arm_navigation_actions)/launch/move_left_arm.launch"/>
<include file="$(find pr2_arm_navigation_actions)/launch/move_right_arm.launch"/>

<!-- load planning_environment -->
<include file="$(find pr2_arm_navigation_actions)/launch/environment_server.launch"/>

<!-- load controllers -->
<include file="$(find pr2_arm_navigation_filtering)/launch/trajectory_filter.launch"/>

<!-- load ik -->
<include file="$(find pr2_arm_navigation_kinematics)/launch/left_arm_collision_free_ik.launch"/>
<include file="$(find pr2_arm_navigation_kinematics)/launch/right_arm_collision_free_ik.launch"/>

</launch>

when I launch it on the pr2 (versus sim) I get the following warnings:

1. "Empty joint state map cache" (keeps getting printed at fast frequency)
2. "Got joint state update but did not update some joints for more than 1s" (once in a while)

Then if I try to run some tasks such as positioning one arm in a certain configuration (http://ros.informatik.uni-freiburg.de/roswiki/move_arm%282f%29Tutorials%282f%29MoveArmPoseGoal.html) or moving the base (i.e. http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot) the task does does not work and just hangs.

Google didn't help that much. Do you know what it could be the reason and how to fix it?

Thanks

Guys, I have a problem with the following tutorial: http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A when I call roslaunch pr2_arm_navigation_tutorials laser-perception.launch the collision map does not show on rviz. Instead I get the following message:

[laser_clear_objects-5] process has died [pid 16360, exit code -6].

What is the problem? Thanks

the link you provided does not work.

Also, by this "Then you have to add its display in RVIZ - type robot model (set robot description to "object1"). For object2 you have to add next robot model display." you mean the following? <param name="object1" command="cat /home/x/ros_workspace/project/objects/urdf/object1.urdf"/>

Sorry but it is still not clear to me. Thanks

what would it be my model.xml?

I have object1.urdf which is in the format: <robot name="" ...&gt;="" <link="" name="" ...&gt;<="" p="">

but it won't be recognized as an xml file. Any suggestion?

Thanks

Guys, i am completely new to ROS and trying to learn how to get things done. I am trying to model an environment where I have two objects and the pr2 in my world. The launch file is the following:

<launch>

 <!-- Launch PR2 in empty world -->
 <include file="$(find pr2_gazebo)/pr2_empty_world.launch"/>

 <!-- send urdf to param server -->
 <param name="object1" textfile="/home/x/ros_workspace/project/objects/urdf/object1.urdf" />
 <param name="object2" textfile="/home/ros_workspace/project/objects/urdf/object2.urdf" />

 <!-- push urdf to factory and spawn robot in gazebo -->
 <node name="spawn_object1" pkg="gazebo" type="spawn_model" args="-urdf -param object1 -x 3.0 -y 3.0 -z 0.1  -model object1" respawn="false" output="screen" />
 <node name="spawn_object2" pkg="gazebo" type="spawn_model" args="-urdf -param object2 -x 2.75 -y 3.5 -z 0.25  -model object2" respawn="false" output="screen" />

</launch>

My objects get correctly spanwned and I can visualize them in gazebo, but they do not appear on rviz. How would I see the objects in rviz?

Thanks