XBotGUI sliders don't work / robot model not displayed

[alessandrosettimi]

• Started from a clean adrv-superbuild
• compiled ADVR_core, ADVR_shared, XBotGUI, iit-bigman-ros-pkg

started following programs:

1. roscore
2. gazebo (added bigman model then)
3. CommunicationHandler /home/ale/projects/advr-superbuild/configs/ADVR_shared/bigman/configs/config_walkman.yaml
4. XBotGUI /home/ale/projects/advr-superbuild/external/XBotGUI/configs/bigman/config_walkman.yaml

results:

• sliders don't work, the sliders are not updated when the robot is moving nor the robot moves if the sliders are moved.
• robot meshes are not founded by XBotGUI
• homing plugin works

[liesrock]

After some trials I think this is related to https://github.com/ADVRHumanoids/XCM/issues/2 @alaurenzi Basically checking the ROS command sent to the robot, I see zero stiffness and damping (robot does not move).

I don't know about the robot meshes.

I try to update the config file to have also the ft sensors and imu reading working.

[liesrock]

Solved on RobotInterfaceROS at https://github.com/ADVRHumanoids/RobotInterfaceROS/commit/df5ff9f9548e7431669afcc6c49681ffb5f83596

[liesrock]

@alessandrosettimi I ask you to double check by doing (check to have the working directory clean for each of the repos listed below):

cd $ROBOTOLOGY_ROOT
git pull origin master
cd build
make XCM-update
make XBotGUI-update
make RobotInterfaceROS-update
make ADVR_shared-update
make

And then execute as usual:

gazebo (loading WALK-MAN)

CommunicationHandler $ROBOTOLOGY_ROOT/configs/ADVR_shared/bigman/configs/config_walkman.yaml

XBotGUI $ROBOTOLOGY_ROOT/configs/ADVR_shared/bigman/configs/config_walkman.yaml

Let me know if I can close this when you have time to test it.

[alessandrosettimi]

asap!

[alessandrosettimi]

I actually started from a clean superbuild, however the test worked! :smile: We can close the issue.