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ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O
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xbot gazebo controller #13

Closed nkashiri closed 5 years ago

nkashiri commented 5 years ago

Hi @liesrock The Gazebo doesn't get the Xbot Controller (with roslaunch centauro_gazebo centauro_world.launch paused:=false), the robot is not controlled. Do I need to change something?

liesrock commented 5 years ago

I tested this using the centauro basic config: which config are you using?

nkashiri commented 5 years ago

I think I set the same file: $ get_xbot_config /opt/xbot/build/install/share/xbot/configs/CentauroConfig/centauro_basic.yaml

In case it may help, I get these messages: ERROR: cannot launch node of type [controller_manager/spawner]: controller_manager ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/share ROS path [2]=/opt/xbot/build/install/share ROS path [3]=/opt/xbot/build/install/share/xbot/robots/iit-coman-ros-pkg ROS path [4]=/opt/xbot/build/install/share/xbot/robots/iit-cogimon-ros-pkg ROS path [5]=/opt/xbot/build/install/share/xbot/robots/iit-walkman-ros-pkg ROS path [6]=/opt/xbot/build/install/share/xbot/robots/centauro-simulator

nkashiri commented 5 years ago

@liesrock: Looks related with the Gazebo version: 7 does not seems supported by the v1.1.1 of the binaries

liesrock commented 5 years ago

It should be pointed out that the supported version is currently Gazebo 8: if you fix the issue upgrading it I will write this down explicitly in the documentation

nkashiri commented 5 years ago

Yes, it works with the upgrade of Gazebo to version 8, and re-installation of ros and XBot. To avoid the removal and re-installation, I suggest adding the procedure to the installation section, here is what I did: 1 - Setup your computer to accept software from packages.osrfoundation.org. sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list'

You can check to see if the file was written correctly. For example, in Ubuntu Xenial, you can type: $ cat /etc/apt/sources.list.d/gazebo-stable.list deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main 2- Setup keys wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

3- First update the debian database: sudo apt-get update

4- follow instructions at https://medium.com/@abhiksingla10/setting-up-ros-kinetic-and-gazebo-8-or-9-70f2231af21a