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2023-05-26 06:49:48 -0500 marked best answer Unable to load panda.urdf.xacro in gazebo fortress

Ubuntu : 22.04 Ros version : Rolling gazebo : fortress

i am trying to load a panda robot in gazebo fortress but couldn't really find any basic tutorial.

so i tried to write some launch files but couldn't really load a robot in to gazebo.

def generate_launch_description(): pkg_panda= get_package_share_directory('moveit_resources_panda_moveit_config')

moveit_config = (
    MoveItConfigsBuilder(
        robot_name="panda", package_name="moveit_resources_panda_moveit_config"
    )
    .robot_description(file_path="config/panda.urdf.xacro")
    .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
    .moveit_cpp(
        file_path=get_package_share_directory("get_antipodal")
        + "/config/panda_test.yaml"
    )
    .to_moveit_configs()
)

xacro_file = os.path.join(pkg_panda,
                          'config',
                          'panda.urdf.xacro')

doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}

rviz_config_file = os.path.join(
    get_package_share_directory("get_antipodal"),
    "config",
    "panda_test.rviz",
)

rviz_node = Node(
    package="rviz2",
    executable="rviz2",
    name="rviz2",
    output="log",
    arguments=["-d", rviz_config_file],
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
    ],
)

spawn_entity_node = Node(
    package='ros_gz_sim', 
    executable='create',
    arguments=[
        '-name', 'panda',
        '-string', doc.toxml(),
        '-x', '0',
        '-y', '0',
        '-z', '0.025',
        '-R', '0',
        '-P', '0',
        '-Y', '0'
    ],
    output='screen'
)

#robot state publisher
robot_state_publisher = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    name="robot_state_publisher",
    output="log",
    parameters=[moveit_config.robot_description],
)

# Gazebo Sim
pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')

gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
    ),
    launch_arguments={'gz_args': '-r empty.sdf'}.items(),
)   

ros2_controllers_path = os.path.join(
    get_package_share_directory("moveit_resources_panda_moveit_config"),
    "config",
    "ros2_controllers.yaml",
)

ros2_control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[moveit_config.robot_description, ros2_controllers_path],
    output="log",
)

load_controllers = []
for controller in [
    "panda_arm_controller",
    "panda_hand_controller",
    "joint_state_broadcaster",
]:
    load_controllers += [
        ExecuteProcess(
            cmd=["ros2 run controller_manager spawner {}".format(controller)],
            shell=True,
            output="log",
        )
    ]
return LaunchDescription(
    [
        robot_state_publisher,
        ros2_control_node,
        rviz_node,
        gazebo,
        spawn_entity_node,
    ]
    + load_controllers
)

and these error keep shows.

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 16: Msg: A model must have at least one link.

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 16: Msg: A model must have at least one link.

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 24: Msg: FrameAttachedToGraph error: scope context name[] does not match __model__ or world.

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 22: Msg: attached_to name[panda_link7] specified by frame with name[panda_joint8] does not match a nested model, link, joint, or frame name in model with name[panda].

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [panda::panda_joint8] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [5].

[ruby $(which ign) gazebo-4] [Err] [UserCommands.cc:1138] Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].

Any other simple example, such as gz_ros2_control_demos works fine. even copy paste launch file from gz_ros2_control_demos to my launch ... (more)

2023-05-26 06:49:41 -0500 answered a question Unable to load panda.urdf.xacro in gazebo fortress

I was able to resolve this error by adding inertia to URDF file. check this issue : https://github.com/gazebosim/gazeb

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2023-05-25 11:45:47 -0500 edited question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

2023-05-25 11:44:52 -0500 edited question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

2023-05-25 11:44:12 -0500 edited question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

2023-05-25 11:43:33 -0500 edited question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

2023-05-25 11:42:47 -0500 edited question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

2023-05-25 11:42:16 -0500 asked a question Unable to load panda.urdf.xacro in gazebo fortress

Unable to load panda.urdf.xacro in gazebo fortress Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying t

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2022-09-03 08:33:44 -0500 asked a question Difference between launch.actions and launch_ros.actions

Difference between launch.actions and launch_ros.actions I been trying to understand launch file for ros2 a while, some

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2022-08-30 08:56:24 -0500 edited question How to add two plugin for ros2_control?

How to add two plugin for ros2_control? 20.04/Foxy I have been studying ros2_control for few days to use it for my own

2022-08-30 08:56:10 -0500 edited question How to add two plugin for ros2_control?

How to add two plugin for ros2_control? 20.04/Foxy I have been studying ros2_control for few days to use it for my own

2022-08-30 08:55:45 -0500 asked a question How to add two plugin for ros2_control?

How to add two plugin for ros2_control? 20.04/Foxy I have been studying ros2_control for few days to use it for my own

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2021-08-28 05:29:34 -0500 commented answer how can i check bottle neck in my code while node is running?

Thx a lot! I will look into the link that u gave me and also try to look into the different method to save computational

2021-08-28 05:27:00 -0500 marked best answer how can i check bottle neck in my code while node is running?

So i have a node that subscribes pointcloud2 msgs which generated from moving line scanner. (about 200hz publish rate) I tried to concatenate(add) pointcloud every subscribe callback but it seems very slow. about 20hz, i tested by publish back from callback function which could make little slow yet 20hz seems too slow. (i used ros::spin.)

There is definitely bottle neck in my code. Is there anyway i can check the code bottle neck while ros node is running? Only idea i have is to print curret time every line that matters in the code, but this seem very tedious. so if there is any solution it would be great! any idea is also welcome :) thx.

more general info about what i am trying to do

each pointcloud has 800 point (xyz) pointcloud data will be added and when node is finished it will save total point cloud.

2021-08-27 05:36:26 -0500 asked a question how can i check bottle neck in my code while node is running?

how can i check bottle neck in my code while node is running? So i have a node that subscribes pointcloud2 msgs which ge

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2021-05-03 01:48:34 -0500 edited question move group command doesn't update rviz

move group command doesn't update rviz I have been trying to move robot arm in gazebo. I am using move group python

2021-05-03 01:48:10 -0500 edited question move group command doesn't update rviz

move group command doesn't update rviz (/upfiles/1620024475141510.png) I have been trying to move robot arm in gazebo.

2021-05-03 01:47:30 -0500 asked a question move group command doesn't update rviz

move group command doesn't update rviz I have been trying to move robot arm in gazebo. I am using move group python int

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2020-12-23 19:05:15 -0500 marked best answer ros msg float64 to float value

i am trying to remove 3 under decimal point of my data. when i use float to store some data , it gives "-9.082400" but when i use this data to float64 for ros topic, it gives "-9.08240001381"

how can i remove "1381" value? is it happening during conversion between float to float 64?

any idea will help me thx!

2020-12-23 19:04:47 -0500 marked best answer does rostopic echo consider as a subscriber?

so i been browsing some packages (specially this one. https://github.com/ros-industrial/key...). In this package, they say that 'no pulling from sensor if there is no subscriber'

actual readme contents was "By default the node publishes XYZ point clouds on the profiles topic. Note that nothing will be published if no one subscribes that topic."

And i was kind a lazy to make subscriber so i thought why just try to use rostopic echo as subscriber. and the question is that, "does the rostopic echo works as a subscriber or other method?" i wonder how the echo works, and i went to ros_comm github but it was little difficult to find "rostopic echo" part of code.

if there is anyone had same question like me plz inlight me thx! (excues my bad english)

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2020-12-22 02:23:25 -0500 asked a question does rostopic echo consider as a subscriber?

does rostopic echo consider as a subscriber? so i been browsing some packages (specially this one. https://github.com/ro

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2020-08-05 21:44:15 -0500 commented answer ros msg float64 to float value

thx for the answer. i guess my question was more related with floating point rather than ROS.

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2020-08-05 03:51:57 -0500 asked a question ros msg float64 to float value

ros msg float64 to float value i am trying to remove 3 under decimal point of my data. when i use float to store some d

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2020-05-29 00:11:26 -0500 asked a question rosbag plays topics with different time

rosbag plays topics with different time I am trying to use rosbag option for testing. The problem is that when i try to

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