EmbeddedSystem's profile - activity

I'm getting similar issues, here is the error: http://pastebin.com/c51iHjJV The log file it mentions doesn't seem to exist either.

So I love this answers site, I spend all day working on something, give up, ask a question, and then 2 minutes later I find the answer: http://pr2support.willowgarage.com/wiki/PR2%20Manual/Chapter18#Tucking_PR2_Arms

Looking at the python file is very helpful for understanding basic arm movements

I've been looking through these tutorials: http://www.ros.org/wiki/move_arm/Tutorials/

They are very helpful, but they seem to be broken with fuerte. The arm navigation has trouble with the ompl_planning/plan_kinematic_path service.

Motion planning service failed on /ompl_planning/plan_kinematic_path

That's pretty much all you get besides more unsuccessful connection attempts. That service also doesn't seem to be running, so I'm guessing it has been changed in fuerte.

What might be the necessary changes in order to get this to work with fuerte? I'm hoping it is just changing the service name.

Most specifically this: http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoalComplex

I'm attempting this in python right now, so this tutorial is the only one that translates well. (there is no 'addGoalConstraintToMoveArmGoal' functionality in python)

Let's say I've created my own world file that has: <include file="$(find pr2_gazebo)/launch/pr2.launch"/>

This normally spawns the robot at x=0, y=0.

How could I spawn it somewhere else, say x=1, y=1?

I know I could spawn the robot and then move it by calling the service: set_model_state, but I've found doing this with the pr2 doesn't work very well with other objects in the world.

pr2_no_controllers has an arg called 'optenv ROBOT_INITIAL_POSE.' How do I get at this from my world file?

Nevermind. SEE: http://answers.ros.org/question/38826/turtlebot-simulator-not-working-correctly/ But mostly: http://answers.ros.org/question/38465/fuerte-turtlebot-simulator-ubuntu-1204-precise/

The Wiki says this should bring it up:

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

Sadly, it breaks.

[gazebo-2] process has died [pid 25996, exit code 134, cmd
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u 
/opt/ros/fuerte/stacks/turtlebot_simulator/turtlebot_gazebo/worlds/empty.world 
__name:=gazebo __log:=/home/stephen/.ros/log/a7193514-dca9-11e1-b76b-
001aa0625356/gazebo-2.log].
log file: /home/stephen/.ros/log/a7193514-dca9-11e1-b76b-001aa0625356/gazebo-
2*.log

and this, which might be more relevant:

process[kinect_laser_narrow-10]: started with pid [26227]
waiting for service spawn_urdf_model
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* 
boost::shared_ptr<T>::operator->() const [with T = urdf::Inertial]: Assertion `px 
!= 0' failed.
Service call failed: transport error completing service call: unable to receive 
data from sender, check sender's logs for details
Aborted (core dumped)

Ubuntu 12.04, ROS Fuerte, all up to date

So, given this solution, it works better, but the robot still doesn't like the whole 'teleporting' thing. It seems as if it rotates and reconfigures during the reassignment of the pose.

This is not optimal, is there a better way to set the initial pose in relation to the plane?

I'm also getting this error: Could not transform imu message from torso_lift_link to base_footprint But I'm not sure that is as relevant to my problem? or maybe it is?

Other important info I forgot to mention: Ubuntu 12.04, Ros Fuerte, all up to date.

Some background: Essentially I have set up pr2 in simulation in an empty world on gazebo.

I would like to set the initial pose of the robot, so I have done the following:

model_state = gazebo.msg.ModelState()
model_state.model_name = 'pr2'
model_state.pose.position.x = map2lab[0]
model_state.pose.position.y = map2lab[1]

rospy.wait_for_service('/gazebo/set_model_state')
try:
    sms = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
    print 'Model State: ' + str(model_state)
    sms(model_state)
except rospy.ServiceException, e:
    print "Service call failed: %s"%e

At this point, I'm not sure if it has broken yet, but I then would also like to move the robot around, so I set up the following:

self.pub = rospy.Publisher('/base_controller/command', Twist)
rospy.init_node('locomotionCommand')

Which later I use to publish something like the following (in which v and w are always real numbers):

twist = Twist()
twist.linear.x = v
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = w
self.pub.publish(twist)

So sometime in here, the pr2 jumps and disappears and I get the following error repeated at some high frequency:

[ERROR] [1343312019.823059305, 40.582000000]: TF_NAN_INPUT: Ignoring transform 
for child_frame_id "/wheelodom" from authority "default_authority" because of a 
nan value in the transform (nan nan nan) (-nan -nan -nan -nan)

I'm fairly certain it is only on /base_odometry/odom, here's a sample:

header:
  seq: 5320
  stamp:
    secs: 58
    nsecs: 971000000
  frame_id: odom
child_frame_id: ''
pose:
  pose:
    position:
      x: nan
      y: nan
      z: 0.0
    orientation:
      x: nan
      y: nan
      z: nan
      w: nan
  covariance: [4e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-06, 0.0, 0.0, 0.0, 0.0,     0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,         1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00028900000000000003]
twist:
  twist:
    linear:
      x: 2.2798345089
      y: 2.02649641037
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: -0.20633020997
  covariance: [4e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-06, 0.0, 0.0, 0.0, 0.0,     0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00028900000000000003]

I'm at a loss to figure out what is going on here.