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ROBOTIS-GIT / ROBOTIS-MANIPULATOR-H

ROS packages for the ROBOTIS MANIPULATOR-H
http://emanual.robotis.com/docs/en/platform/manipulator_h/introduction/
Apache License 2.0
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manipulator_h_manager gazebo mode fail #22

Closed yossioo closed 7 years ago

yossioo commented 7 years ago

After fresh installation of following packages from git, 

DynamixelSDK
ROBOTIS-Framework
ROBOTIS-Framework-msgs
ROBOTIS-Math
ROBOTIS-MANIPULATOR-H (This Package)

A gazebo simulation launched by running the following command: roslaunch manipulator_h_gazebo manipulator_h_gazebo.launch

When running a following command the manager starts but tries to connect via serial port, despite the fact that GAZEBO parameter specified to be true. roslaunch manipulator_h_manager manipulator_h_manager.launch gazebo:=true

Trying to confirm that the argument was received, I added a line to CPP file:

screenshot_20170612_115221

The output when running the command: screenshot_20170612_120049

Full text:

yo@MELAB4-PC11:~/catkin_ws$ roslaunch manipulator_h_manager manipulator_h_manager.launch gazebo:=true ... logging to /home/yo/.ros/log/0dfbcc18-4f4d-11e7-a84d-902b34d1e8de/roslaunch-MELAB4-PC11-19178.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://MELAB4-PC11:38485/

SUMMARY

PARAMETERS

  • /gazebo: True
  • /gazebo_robot_name: robotis_manipulat...
  • /init_file_path: /home/yo/catkin_w...
  • /offset_table: /home/yo/catkin_w...
  • /robot_file_path: /home/yo/catkin_w...
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES / manipulator_h_manager (manipulator_h_manager/manipulator_h_manager)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[manipulator_h_manager-1]: started with pid [19196]

[ WARN] [1497257883.690807721]: GAZEBO MODE = TRUE /dev/ttyUSB0 added. (baudrate: 1000000) [PortHandlerLinux::SetupPort] Error opening serial port! (/dev/ttyUSB0) [ID: 1] H54-200-S500-R added. (/dev/ttyUSB0) [ID: 2] H54-200-S500-R added. (/dev/ttyUSB0) [ID: 3] H54-100-S500-R added. (/dev/ttyUSB0) [ID: 4] H54-100-S500-R added. (/dev/ttyUSB0) [ID: 5] H42-20-S300-R added. (/dev/ttyUSB0) [ID: 6] H42-20-S300-R added. [ INFO] [1497257883.727269311]: Load offsets...

s-changhyun commented 7 years ago

I think that there is no error.

[PortHandlerLinux::SetupPort] Error opening serial port! -> if you execute gazebo mode, this is not error.

Did you try to use manipulator_h_gui? I think that command will work. https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/How-to-operate-GUI-program

yossioo commented 7 years ago

I can start GUI node and it works.

Why does port handler even start when I work with gazebo? If I have a real Manipulator-H connected, will it connect to it, despite the fact that I specify gazebo argument? If so, how can I know whether the command I send will go to simulation in gazebo or to real robot? If it won't connect, why it even tries to open serial port?

This looks deceiving: displaying a message about serial port when I work with gazebo, maybe some message about manager connecting to gazebo should be displayed instead?

s-changhyun commented 7 years ago

We will fix the framework.

If you start the framework with the topic "gazebo:=true",you can confirm from the command "rostopic list". Some topics are generated for the gazebo.