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ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O
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Contact Force Estimate #24

Closed XinyuanZhao closed 4 years ago

XinyuanZhao commented 5 years ago

Hello @alaurenzi, I heard that you had written a function to estimate the contact force of Centauro. Could you please give me access to that function? Thank you very much.

alaurenzi commented 5 years ago

Hi, have a look to this launch file!

https://github.com/ADVRHumanoids/centauro_cartesio/blob/master/launch/centauro_force_estimation.launch

XinyuanZhao commented 5 years ago

Thank you very much.

I tried to launch this file but it popped up an error with the message " Invalid tag: Invalid tag: Unknown type 'yaml'. ". Then I deleted all the attributes " type="yaml" " from this file and launched it again, but there was still an error. I attached the whole message here.

Could you please help me to have a look at this issue? @alaurenzi

PARAMETERS

  • /force_estimator/arm1_8/dofs: [0, 1, 2]
  • /force_estimator/arm2_8/dofs: [0, 1, 2]
  • /force_estimator/chains: [leftarm, right...
  • /force_estimator/is_model_floating_base: True
  • /force_estimator/links: [arm1_8, arm2_8, ...
  • /force_estimator/model_type: RBDL
  • /force_estimator/wheel_1/dofs: [0, 1, 2]
  • /force_estimator/wheel_2/dofs: [0, 1, 2]
  • /force_estimator/wheel_3/dofs: [0, 1, 2]
  • /force_estimator/wheel_4/dofs: [0, 1, 2]
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES / centauro_cop_estimation (centauro_tools/centauro_cop_estimation) force_estimator (cartesian_interface/force_estimation_node)

ROS_MASTER_URI=http://localhost:11311

process[centauro_cop_estimation-1]: started with pid [23214] process[force_estimator-2]: started with pid [23215] terminate called after throwing an instance of 'std::runtime_error' what(): robot_description_semantic parameter not set terminate called after throwing an instance of 'std::runtime_error' what(): robot_description_semantic parameter not set [centauro_cop_estimation-1] process has died [pid 23214, exit code -6, cmd /home/xinyuan/catkin_centauro_ws/devel/lib/centauro_tools/centauro_cop_estimation name:=centauro_cop_estimation log:=/home/xinyuan/.ros/log/c7c7542c-b52c-11e9-a420-54b20307e844/centauro_cop_estimation-1.log]. log file: /home/xinyuan/.ros/log/c7c7542c-b52c-11e9-a420-54b20307e844/centauro_cop_estimation-1.log [force_estimator-2] process has died [pid 23215, exit code -6, cmd /opt/ros/kinetic/lib/cartesian_interface/force_estimation_node ~torque_offset:=cartesian/torque_offset __name:=force_estimator __log:=/home/xinyuan/.ros/log/c7c7542c-b52c-11e9-a420-54b20307e844/force_estimator-2.log]. log file: /home/xinyuan/.ros/log/c7c7542c-b52c-11e9-a420-54b20307e844/force_estimator-2.log all processes on machine have died, roslaunch will exit

alaurenzi commented 5 years ago

If you read the error message, it says robot_description_semantic parameter not set. This means that you need to upload the srdf to the param server under the given param name

XinyuanZhao commented 5 years ago

Sorry to bother again. The error message at this time is

[ INFO] [1564773546.060708644]: Private parameter ~/links is empty, exiting.. ~LoggerClass terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument

Do you have any ideas about how to fix this problem?

I have three more questions:

  1. Do I have to complie the source file "centauro_addon.cpp" before I can successfully run the contact force estimation ?
  2. The urdf and srdf I upload to ROS param robot_description and robot_description_semantic are obtained from the CentauroConfig package. Is it correct ?
  3. The original launch file leads to an error " Invalid tag: Invalid tag: Unknown type 'yaml' ". Should I remove all the "type="ymal" from the launch file ?
liesrock commented 4 years ago

I assume this was solved thanks to @alaurenzi suggestions: please reopen if I am wrong.