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LUHbots / luh_youbot_os

The youbot driver, controller and tools from the LUHBots Team!
http://luhbots.de
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vrep robot model problem #2

Closed woiazbl66 closed 4 years ago

woiazbl66 commented 7 years ago

I am trying to use the vrep model, but when I load the model, it is misplaced. Can you guys replace the current one with a new good one? Thank you very much!

woiazbl66 commented 7 years ago

Anyone help? I used another youbot model and another gripper, now I am driven crazy by the highly customized luh_youbot_kinematics package when trying to move the arm.

siaden commented 7 years ago

Our vrep model is actually deprecated. We switched to gazebo a few years ago and haven't used the vrep simulation since then. So we won't put any further effort into the vrep model. Sorry. The main problem with vrep was that the simulation was very slow due to the LUA-Scripts. The C++-Plugins for Gazebo are much faster. What exactly do you mean by 'misplaced'? Maybe I can help if you describe the problem in more detail. In the kinematic lilbrary there is just one gripper-specific parameter, which is the length of the last arm segment (L4) in luh_youbot_kinematics/include/luh_youbot_kinematics/constants.h

woiazbl66 commented 7 years ago

screenshot from 2017-05-31 11-51-39

When I say it is "misplaced", I mean the arm is not at the right place as shown in the pic I attached. I wonder if you have a correct model.

woiazbl66 commented 7 years ago

Also, before I didn't compile the gazebo package, now I tried it, I get some error. Do I have to install the gazebo environment before compiling the gazebo package? Thank you.