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PR2 / pr2_mechanism

Infrastructure to control the PR2 robot in a hard realtime control loop.
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size of joints of PR2GripperTransmission on hydro #324

Open garaemon opened 10 years ago

garaemon commented 10 years ago

I have a following error when running pr2_ethercat on hydro:

[ERROR] [1412061906.096726706]: Failed to initialize transmission
[FATAL] [1412061906.210650710]: ASSERTION FAILED
        file = /home/applications/ros/hydro/src/pr2_mechanism/pr2_mechanism_model/src/pr2_gripper_transmission
.cpp
        line = 545
        cond = js.size() == 1 + passive_joints_.size() + 1

I'm using a robot model based on pr2_1.11.4.urdf.xacro and js.size and passivejoints.size are 0.

Is something wrong?

cc: @k-okada

garaemon commented 10 years ago

When I use robot model based on pr2_1.10.3.urdf, js.size() is 7 and passivejoints.size() is 4.

garaemon commented 10 years ago

we needed to change pr2.urdf.xacro as following:

$  diff robot_calibrated_2014_09_29_23_23.xml robot_calibrated_2014_09_29_23_23.xml.org 
1416,1419d1415
<     <rightActuator mechanicalReduction="60.1714285714" name="r_wrist_r_motor"/>
<     <leftActuator mechanicalReduction="60.1714285714" name="r_wrist_l_motor"/>
<     <flexJoint mechanicalReduction="-1.0" name="r_wrist_flex_joint"/>
<     <rollJoint mechanicalReduction="1.0" name="r_wrist_roll_joint"/>
1656,1662d1651
<     <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="r_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
<     <use_simulated_gripper_joint/>
<     <passive_joint name="r_gripper_l_finger_joint"/>
<     <passive_joint name="r_gripper_r_finger_joint"/>
<     <passive_joint name="r_gripper_r_finger_tip_joint"/>
<     <passive_joint name="r_gripper_l_finger_tip_joint"/>
<     <simulated_actuated_joint name="r_gripper_motor_screw_joint" passive_actuated_joint="r_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
1968,1971d1956
<     <rightActuator mechanicalReduction="60.1714285714" name="l_wrist_r_motor"/>
<     <leftActuator mechanicalReduction="60.1714285714" name="l_wrist_l_motor"/>
<     <flexJoint mechanicalReduction="-1.0" name="l_wrist_flex_joint"/>
<     <rollJoint mechanicalReduction="1.0" name="l_wrist_roll_joint"/>
2208,2214d2192
<     <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="l_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
<     <use_simulated_gripper_joint/>
<     <passive_joint name="l_gripper_l_finger_joint"/>
<     <passive_joint name="l_gripper_r_finger_joint"/>
<     <passive_joint name="l_gripper_r_finger_tip_joint"/>
<     <passive_joint name="l_gripper_l_finger_tip_joint"/>
<     <simulated_actuated_joint name="l_gripper_motor_screw_joint" passive_actuated_joint="l_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
UltronDestroyer commented 10 years ago

What was the issue? Those lines were added?

garaemon commented 10 years ago

In order to run pr2_ethercat with the latest pr2.urdf, I needed to add those lines to the urdf file. However I don't know whether I should fix urdf or pr2_mechanism_model.

Is there anybody who know why these lines are removed from urdf file?

2014年9月30日火曜日、Devon Ashnotifications@github.comさんは書きました:

What was the issue? Those lines were added?

— Reply to this email directly or view it on GitHub https://github.com/PR2/pr2_mechanism/issues/324#issuecomment-57312323.

from iPhone

garaemon commented 10 years ago

Any update?

Is there anybody who tried pr2 calibration process on hydro?

garaemon commented 10 years ago

I addressed this critical issue. pr2 calibration process is:

  1. read robot_description from parameter server
  2. collect data
  3. save them into a bag file
  4. conduct calibration from the bag file
  5. dump the calibration parameters into urdf files.

And current urdf_parser_py ignores the tags described in above comment and the tags will be disappeared between 4. and 5.

We need to fix urdf or mechanism controller in order to achieve pr2 calibration on hydro.

garaemon commented 10 years ago

This pull request can solve this problem, however it is still rejected.

UltronDestroyer commented 10 years ago

Sorry, it seems the emails have been getting marked as spam for some reason. I'll look over this and get back to you