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JenniferBuehler / grasp-execution-pkgs

Package(s) to execute a grasp incl. execution in Gazebo
BSD 3-Clause "New" or "Revised" License
34 stars 17 forks source link

Grasping the cube gives error #11

Closed faseehahmad closed 5 years ago

faseehahmad commented 6 years ago

Running the following command in the tutorial roslaunch grasp_execution test_grasp.launch object_name:=cube1 robot_namespace:=jaco gives the following error

[simple_grasp_action_client-1] process has died [pid 21351, exit code -6, cmd /home/cogrobo/catkin_ws/devel/lib/grasp_execution/simple_grasp_action_client __name:=simple_grasp_action_client __log:=/home/cogrobo/.ros/log/a9f3d39c-4f13-11e8-918b-74c63bfadf8b/simple_grasp_action_client-1.log]. log file: /home/cogrobo/.ros/log/a9f3d39c-4f13-11e8-918b-74c63bfadf8b/simple_grasp_action_client-1*.log

and is unable to attach the cube to arm. What is the reason behind it? I ran the tutorial with grasp_fix

JenniferBuehler commented 6 years ago

Thanks for reporting this. I haven't tried the test grasp in a while, the grasp files have actually changed a while ago, maybe it's related to this. I'll check up on it as soon as possible.

Are you using kinetic or indigo?

faseehahmad commented 6 years ago

I m using ros kinetic and gazebo 7. And I am actually trying to implement this plugin in baxter simulation. But, first I wanted to try out the tutorial. I have another question. I only need to install gazebo_pkgs in the same workspace as baxters. and then I have to add grasp fix as a model plugin in baxters urdf. Right?

faseehahmad commented 6 years ago

Hello Jennifer, I tried the plugin with baxter robot and it worked fine. Thank you very much for your help. One thing I noticed, I don't know if it is related to the plugin or not. In my simulation I am picking up objects made in Solid works, but somehow the gripper is unable to grasp them. Solid works models are introduced through SDF file. But if I use simple objects introduced through URDF file, the grasp plugin works perfectly fine. I don't know if the problem is with SDF models or not but it works fine with URDF models. Thanks again

JenniferBuehler commented 6 years ago

Hi, to your first question (gazebo_pkgs in baxter workspace and add the plugin to URDF): Yes :) But I guess that question has been resolved as I take it from your last post.

It shouldn't really make a difference whether the model is read from URDF or SDF, technically what happens when you use URDF is that it is first translated to SDF, because Gazebo uses SDF. Maybe the solid works models don't have collision geometries defined in the SDF file. Are you able to share one SDF as an example so I can have a look?

faseehahmad commented 6 years ago

Attached is the sample SDF file embedded with .dae meshes.

On Sat, May 5, 2018 at 2:56 AM, Jennifer Buehler notifications@github.com wrote:

Hi, to your first question (gazebo_pkgs in baxter workspace and add the plugin to URDF): Yes :) But I guess that question has been resolved as I take it from your last post.

It shouldn't really make a difference whether the model is read from URDF or SDF, technically what happens when you use URDF is that it is first translated to SDF, because Gazebo uses SDF. Maybe the solid works models don't have collision geometries defined in the SDF file. Are you able to share one SDF as an example so I can have a look?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/JenniferBuehler/grasp-execution-pkgs/issues/11#issuecomment-386762717, or mute the thread https://github.com/notifications/unsubscribe-auth/AciPz41-Ui9qlgk4thB8m9nIcFzgYKbxks5tvOrFgaJpZM4TxxU_ .

JenniferBuehler commented 6 years ago

I didn't get the attachment... anyway one way to check that it's all good is to turn on the gazebo collision shapes. Load one of your URDF models which are working fine, and one of the SolidWorks models. Then switch on "collision" shapes in Gazebo -> View, and see if there are any notable differences between the models.

faseehahmad commented 6 years ago

Ok I will try that. The attachment has SDF model and also the dae file which is called from the sdf file. I have also attached a tar file which has rest of the files like textures and STL if you need them Thanks

On Sun, May 6, 2018 at 8:52 AM, Jennifer Buehler notifications@github.com wrote:

I didn't get the attachment... anyway one way to check that it's all good is to turn on the gazebo collision shapes. Load one of your URDF models which are working fine, and one of the SolidWorks models. Then switch on "collision" shapes in Gazebo -> View, and see if there are any notable differences between the models.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/JenniferBuehler/grasp-execution-pkgs/issues/11#issuecomment-386856178, or mute the thread https://github.com/notifications/unsubscribe-auth/AciPzzD6ug17DnZ3TNdsCGVL6TJ47BmZks5tvo-cgaJpZM4TxxU_ .

JenniferBuehler commented 6 years ago

Sorry for getting back to you so late, it's been busy around here :/

Any progress on this?

What I meant is that the attachment hasn't come through on github, I can't download any files here.

faseehahmad commented 6 years ago

Unfortunately, I couldn't. I have been working on URDF models. I have attached a link to SDF modelshttps://www.dropbox.com/sh/ynlg2bqewd827wx/AADRWu85po1M90_fb_wOLdy2a?dl=0

JenniferBuehler commented 5 years ago

Hi, if this is still relevant: The grasp files and the source code have been updated, please try again with the new version. If you are still having trouble, please re-open this issue.