[Bug]: Gazebo simulation fails

Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers

BSD 3-Clause "New" or "Revised" License

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[Bug]: Gazebo simulation fails #12

Closed ninja-hu closed 2 years ago

ninja-hu commented 2 years ago

What happened?

Using gazebo simulation on the LoCoBot fails. The LoCoBot keeps falling after the gazebo physics is unpaused. Following the instructions on the video tutorial page here : https://www.trossenrobotics.com/docs/interbotix_xslocobots/python_interface/index.html

Robot Model

locobot_px100

Operating System

Ubuntu 16.04

Steps To Reproduce

Follow the steps in the video tutorial on this page: https://www.trossenrobotics.com/docs/interbotix_xslocobots/python_interface/index.html

to start the gazebo simulation on the LoCoBot NUC. Once the physics is unpaused , robot keeps falling.

Relevant log output

No response

Anything Else

No response

lukeschmitt-tr commented 2 years ago

Hi @ninja-hu. Could you provide your roslaunch command, as well as copy/paste any console output? Which part of the video are you trying to replicate?

It sounds like you may not have specified the use_position_controllers and dof arguments when running ROS launch. This would not load any controllers, causing the arm to fall when physics are unpaused.

Note that the Python API tutorial section of the video starts at 18:13.

ninja-hu commented 2 years ago

HI @LSinterbotix , I am replicating the gazebo simulation part. I used the same command as mentioned in the video at 2:43 to launch the gazebo simulation. After that when I unpause gazebo's physics engine, the locobot keeps falling (behaves as if there is no floor below it.)

I tried the same on a different system which had Ubuntu 20.04 (Noetic) and everything worked perfectly. The problem could be specific to Kinetic.

lukeschmitt-tr commented 2 years ago

I'm not able to replicate this issue on ROS Kinetic.

A few questions for you:

Are you on the kinetic branch for the interbotix_ros_rovers repo?
Did you clone the repos manually, or did you use the install script?
Does the robot fall all the way through the ground plane, or stop halfway through?
Could you provide a video or gif of this occurring? Have you modified the URDF or mesh files at all?

lukeschmitt-tr commented 2 years ago

Closing due to lack of activity. Feel free to reopen if necessary.