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EnricoMingo / opensot_visual_servoing

Package which implements visual servoing tasks in the OpenSoT and CartesI/O frameworks.
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Updated Debians #11

Open EnricoMingo opened 4 years ago

EnricoMingo commented 4 years ago

You can find updated debians for bionic here:

bionic-18.04-2020_07_20_13_46_01.zip

First run the uninstall.sh script. You can test the debians using the same jupyter notebook as before.

@TotoPaolillo

EnricoMingo commented 4 years ago

Hi, we fixed the debians of our software stack, which you can find in the following zip:

bionic-18.04-2020_07_24_08_03_44.zip

First uninstall the previous installed debians using the uninstall.sh distributed with the previous debians. After the installation remember to put in your .bashrc the source of the setup.sh file contained in the debians. To test the debians first try to compile and run your code. Second to test the simulation be sure to have the iit-centauro-ros-pkg in your catkin_ws. You can check if running: roscd centauro_urdf take to the corresponding folder inside the package. If so goes inside the iit-centauro-ros-pkg/centauro_config/ and run: set_xbot_config centauro_example.yaml then: roslaunch centauro_gazebo centauro_world.launch. If everything went fine you should see gazebo opening and CENTAURO spawned. Press the play button on the down bar and you should see the robot standing still.

At this point you can take the robot in the homing position just running on another terminal: rosservice call /xbotcore/HomingExample_switch 1 once the robot is in the homing position just run rosservice call /xbotcore/HomingExample_switch 0 To send joint space trajectories from CartesI/O you have to first enable run: /xbotcore/XBotCommunicationPlugin_switch 1 at this point you should be able to see both the robots in RVIZ and gazebo moving when running the IK.

Please report HERE any problem you will encount.

TotoPaolillo commented 4 years ago

Testing with iit-coman-ros-pkg. The command set_xbot_config coman_example.yaml returns the message /opt/xbot/bin/set_xbot_config: line 24: $XBOT_CONFIG: ambiguous redirect. Furthermore, echo $XBOT_CONFIG does not return anything.

EnricoMingo commented 4 years ago

Last version of working debians: [Uploading bionic-18.04-2020_10_09_09_19_58.tar.gz…]()

EnricoMingo commented 4 years ago

Latest version of working debians: bionic-18.04-2020_10_13_11_32_25.tar.gz

EnricoMingo commented 3 years ago

Notice that this debians are compatible with commit 10e09dad3e8942c69166248daeaf1e4c47a550f7 (not last master)

TotoPaolillo commented 3 years ago

This debians are compatible with the current version of opensot_visual_servoing`` master (4ea6c81) bionic-nightly.tar.gz