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JeongsooLim / drc_hubo

http://hubolab.kaist.ac.kr/
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Lidar twitching issue #10

Open keimura opened 7 years ago

keimura commented 7 years ago

I just upgraded to kinetic and gazebo7 and found that the Lidar would twich up and down whenever moving. If the model isn't moving the Lidar behaves but as soon as I start walking it jumps everywhere. Has this been an issue before? Below is a video of what I see. https://www.youtube.com/watch?v=5e1G6cE-GtE&feature=youtu.be

JeongsooLim commented 7 years ago

In my guess, it's the problem of the joint gain. For that, you need to change gains in the pulgin and gain.txt

2017-06-09 6:07 GMT+09:00 keimura notifications@github.com:

I just upgraded to kinetic and gazebo7 and found that the Lidar would twich up and down whenever moving. If the model isn't moving the Lidar behaves but as soon as I start walking it jumps everywhere. Has this been an issue before? Below is a video of what I see. https://www.youtube.com/watch?v=5e1G6cE-GtE&feature=youtu.be

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Rainbow Robotics www.rainbow-robotics.com http://www.rainbow-robotics.com/ T. +82-42-350-8904 I M. +82-10-3050-0497 F. +82-42-350-8900 I E. jslim@rainbow.re.kr jslim@rainbow.re.kr34141, #4150 N9 KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, South Korea

keimura commented 7 years ago

The DRC_plugin folder right? I can't seem to find where to change gain inside it... As for the gain.txt it doesn't look like there is a gain for the head. It follows the number convention of the jointinformation.h file right?

I did some more testing and found that when I rostopic echo /joint_state even through it shows the head moving in gazebo and rviz it doesn't show movement in joint_state...But I know joint_state is working since I tested it by scanning from the gui.

JeongsooLim commented 7 years ago

It is in the head_plugin. You can change the property of JPtr_Hokuyo.

      1. 오전 12:29에 "keimura" notifications@github.com님이 작성:

The DRC_plugin folder right? I can't seem to find where to change gain inside it... As for the gain.txt it doesn't look like there is a gain for the head. It follows the number convention of the jointinformation.h file right?

I did some more testing and found that when I rostopic echo /joint_state even through it shows the head moving in gazebo and rviz it doesn't show movement in joint_state...But I know joint_state is working since I tested it by scanning from the gui.

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Reply to this email directly, view it on GitHub https://github.com/JeongsooLim/drc_hubo/issues/10#issuecomment-307420640, or mute the thread https://github.com/notifications/unsubscribe-auth/APqNiPeaelCy8l1fAoUY2IxmdCMaa31uks5sCWS1gaJpZM4N0n-1 .