Nic_G's profile - activity

I've found the -J argument for spawn_gazebo_model to set initial joint positions :)

Adding joint positions into my launch file does what I want for Gazebo:

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param $(arg robot_description) -model robot -z 0.1 -J l_ur5_shoulder_lift_joint -1.7296 l_ur5_shoulder_pan_joint -0.8471" respawn="false" output="screen" />

Although I also see the problem reported at https://github.com/ros-simulation/gaz... , viz. it only works if Gazebo is started in a paused state

Hi All

I have a urdf description for a robot which includes two Universal Robot UR5 arms, but the default configuration with all joint angles at 0 results in a self-collision.

Can I set the initial pose of the robot in Gazebo via configuration, in the urdf or elsewhere? A previous answer, http://answers.ros.org/question/9889/... , suggests launching Gazebo paused, setting via a Gazebo service, and then un-pausing, but that seems rather complex for what I'd have thought must be a fairly standard requirement.

It would also be helpful to have it open into a pre-set pose when running MoveIt+RViz (no hardware or Gazebo), so via the urdf would be ideal. I don't want to add an origin yaw to the urdf, as the urdf will then not correspond exactly to the hardware.

Any advice; is calling gazebo/set_model_configuration the best bet?

Posted to https://github.com/flexible-collision... and https://github.com/ros-planning/movei...

The binary version of Flexible Collision Library, libfcl.so.0.5, was incompatible with my processors; we think it requires a processor with an 'avx' flag for vector processing.

The fix was to rebuild libfcl from source. I cloned and built from https://github.com/flexible-collision... , using branch origin/fcl-0.5 (master branch builds to 0.6.0, which fails with the moveit binaries). Summary of steps:

fetch source code

git clone https://github.com/flexible-collision-library/fcl.git
git checkout origin/fcl-0.5

Build as described at https://github.com/flexible-collision...

Re-point symlink:

sudo ln -f -s [local fcl repo location]/build/lib/libfcl.so.0.5.0 /usr/lib/x86_64-linux-gnu/libfcl.so.0.5

Good point gvdhoorn, I'll post the issue to both so people are aware

processor : 0 vendor_id : GenuineIntel cpu family : 6 model : 26 model name : Intel(R) Core(TM) i7 CPU 950 @ 3.07GHz stepping : 5 microcode : 0xf cpu MHz : 1867.000 cache size : 8192 KB physical id : 0 siblings : 8 core id

Thanks for the reply, lsb_release -a output added to the question

Hi All. I'm running a UR5 simulation, using ROS Kinetic with MoveIt! and gazebo, but the moveit_ros_move_group node crashes on start-up.

A backtrace shows an illegal instruction, seemingly issued by libmoveit_collision_detection_fcl.so:

 Thread 1 "move_group" received signal SIGILL, Illegal instruction.
 0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
 (gdb) bt
 #0  0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
 #1  0x00007fffef50f139 in fcl::BVHModel<fcl::OBBRSS>::BVHModel() () from /opt/ros/kinetic/lib/libmoveit_collision_detection_fcl.so.0.9.1

I followed the instructions at http://wiki.ros.org/ur_gazebo initially and the above error comes when the move_group node is called from within the ur5_moveit_planning_execution.launch file. Running 'rosrun moveit_ros_move_group move_group' directly gives the same error and stack trace.

I've tried using MoveIt from within the Kinetic distro and tried updating from the shadow-fixed server, and also tried building MoveIt from source, but the behaviour is the same.

I'm running Linux Ubuntu, version details: 4.4.0-43-generic (buildd@lgw01-22) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.2)

Any advice on what to try next would be greatly appreciated!

System details:

lsb_release -a          
LSB Version:    core-9.20160110ubuntu0.2-amd64:core-9.20160110ubuntu0.2-noarch:security-9.20160110ubuntu0.2-amd64:security-9.20160110ubuntu0.2-noarch
Distributor ID: Ubuntu
Description:    Ubuntu 16.04.1 LTS
Release:        16.04
Codename:       xenial

Cpu:

processor       : 0
vendor_id       : GenuineIntel
cpu family      : 6
model           : 26
model name      : Intel(R) Core(TM) i7 CPU         950  @ 3.07GHz
stepping        : 5
microcode       : 0xf
cpu MHz         : 1867.000
cache size      : 8192 KB
physical id     : 0
siblings        : 8
core id         : 0
cpu cores       : 4
apicid          : 0
initial apicid  : 0
fpu             : yes
fpu_exception   : yes
cpuid level     : 11
wp              : yes
flags           : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm tpr_shadow vnmi flexpriority ept vpid dtherm ida
bugs            :
bogomips        : 6141.46
clflush size    : 64
cache_alignment : 64
address sizes   : 36 bits physical, 48 bits virtual
power management:

EDIT - more info:

installing debug files, gdb shows the problem location:

#0  fcl::AABB::AABB (this=0x92fad8) at /var/lib/jenkins/workspace/fcl0.5-pkg_builder-master-generic/repo/src/BV/AABB.cpp:47

gdb dissassemly output gives the problem as the command "vmovsd %xmm2,(%rdx,%rax,8) ", which suggests the library has been compiled on an architecture with an 'avx' flag on the cpu, which my system doesn't have