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Kinovarobotics / kinova-movo

Source code of the Kinova MOVO platform
BSD 3-Clause "New" or "Revised" License
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Movo incorrectly spawning in Gazebo #72

Open syc7446 opened 4 years ago

syc7446 commented 4 years ago

Description

When spawning Movo in Gazebo, arms are overlapped with some parts of Movo. Movo keeps shaking and thus cannot be used in Gazebo. Movo's initial pose is random.

Version

kinectic-devel

Movo's configuration: double arm, 7DOF-S

Steps to reproduce

roslaunch movo_gazebo movo.launch

Code example

I suspect it was because of PID values set for controller_manager in movo.launch of movo_gazebo,

    <node name="default_controller_spawner" pkg="controller_manager"
          type="controller_manager" args="spawn
                               movo/right_arm_controller 
                               movo/right_gripper_controller
                               movo/left_arm_controller 
                               movo/left_gripper_controller
                               movo/torso_controller
                               movo/head_controller
                               joint_state_controller"/>

set_joint_positions_to_zero.bash that unpauses Gazebo, 

    <node pkg="movo_gazebo" type="set_joint_positions_to_zero.bash" name="set_joint_positions_to_zero" output="screen"/>

or URDFs of Movo. But I wasn't able to find out.

Expected behavior

Movo spawned stably with initial arm configuration after launching movo.launch.

Any other information

In kinect-devel, set_joint_positions_to_zero.bash was set only for 6DOF-arms. I changed it for 7DOF-arms but either of them didn't solve the issue.