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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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Online walking for OP3 is not working in Ubuntu 20.04.6 LTS with ROS Noetic. #126

Open Ashu2515 opened 9 months ago

Ashu2515 commented 9 months ago

I compiled every Ros Package (with some modification in humanoid_navigation package, to address the change due to OpenCV4 in Ros Noetic) for OP3 in Ubuntu 20.04.6 with ROS Noetic. After all these everything including normal walking is working properly But Online Walking for real robot as well as for simulation is Not working, that is robot is not moving. Below is the output I am getting when I tried to use online walking module. Please take a look and help me to solve this issue. I would like to thank you in advance for your help. [ INFO] [1701879989.000664445]: Set Mode : online_walking_module [ INFO] [1701879989.743460837]: set current joint module [ INFO] [1701879989.743678063]: Applied Mode [ INFO] [1701879989.747498732]: Get walking parameters [ INFO] [1701880008.566495599]: Send Joint Pose Msg [ INFO] [1701880008.567310155]: Reset Body Pose [ INFO] [1701880012.727322003]: Wholebody Balance Msg [ INFO] [1701880017.295231941]: Set Walking Parameter [ INFO] [1701880020.026447652]: Send Body Offset [ INFO] [1701880021.755895598]: Send Foot Distance [ INFO] [1701880027.752247113]: Send Foot Step Command Msg [ERROR] [1701880042.906476452]: No frame id!!! [ INFO] [1701880042.906582547]: Make Interactive Marker! - 0, 0, 0 [0, 0, 0 | 1] [ INFO] [1701880046.744266665]: Update Pose Panel [ INFO] [1701880046.744618642]: Update Pose Panel [ INFO] [1701880046.744757406]: Update Pose Panel [ INFO] [1701880048.747720214]: Update Pose Panel [ INFO] [1701880069.090752128]: Make Interactive Marker! - 0.971, 0, 0 [0, 0, 0 | 1] [ INFO] [1701880070.432026467]: Start [0, 0 | 0] , Goal [0.971, 0 | -0] [ INFO] [1701880072.476552005]: Foot Step #1 [ right] - [0, -0.05 | 0] [ INFO] [1701880072.476846035]: Foot Step #2 [ left] - [0.055, 0.035 | 11.25] [ INFO] [1701880072.477014225]: Foot Step #3 [ right] - [0.135, -0.045 | 11.25] [ INFO] [1701880072.477175534]: Foot Step #4 [ left] - [0.185, 0.055 | 11.25] [ INFO] [1701880072.477336089]: Foot Step #5 [ right] - [0.215, -0.035 | -14.0625] [ INFO] [1701880072.477558228]: Foot Step #6 [ left] - [0.275, 0.055 | 0] [ INFO] [1701880072.477737293]: Foot Step #7 [ right] - [0.345, -0.035 | 0] [ INFO] [1701880072.477922881]: Foot Step #8 [ left] - [0.415, 0.055 | 0] [ INFO] [1701880072.478099727]: Foot Step #9 [ right] - [0.485, -0.035 | 0] [ INFO] [1701880072.478306130]: Foot Step #10 [ left] - [0.555, 0.055 | 0] [ INFO] [1701880072.478567807]: Foot Step #11 [ right] - [0.625, -0.035 | 0] [ INFO] [1701880072.478788177]: Foot Step #12 [ left] - [0.695, 0.055 | 0] [ INFO] [1701880072.479018593]: Foot Step #13 [ right] - [0.765, -0.035 | 0] [ INFO] [1701880072.479255811]: Foot Step #14 [ left] - [0.835, 0.055 | 0] [ INFO] [1701880072.479529015]: Foot Step #15 [ right] - [0.905, -0.035 | 0] [ INFO] [1701880072.479789024]: Foot Step #16 [ left] - [0.975, 0.055 | 0] [ INFO] [1701880072.480056726]: Foot Step #17 [ right] - [0.971, -0.05 | -0] [ INFO] [1701880072.480854891]: Visualize Preview Footstep Marker Array [ INFO] [1701880072.483682107]: Set command to walk using footsteps [ INFO] [1701880072.484032773]: Clear Visualize Preview Footstep Marker Array

But still robot doesn't move. Please suggest me what should I do?

Ashu2515 commented 9 months ago

First I run this command $ roslaunch op3_manager op3_manager.launch it has the below output

[ INFO] [1701879651.176307079]: Torque on DXLs! /dev/ttyUSB0 added. (baudrate: 2000000) (/dev/ttyUSB0) [ID: 1] XM430-W350 added. (/dev/ttyUSB0) [ID: 2] XM430-W350 added. (/dev/ttyUSB0) [ID: 3] XM430-W350 added. (/dev/ttyUSB0) [ID: 4] XM430-W350 added. (/dev/ttyUSB0) [ID: 5] XM430-W350 added. (/dev/ttyUSB0) [ID: 6] XM430-W350 added. (/dev/ttyUSB0) [ID: 7] XM430-W350 added. (/dev/ttyUSB0) [ID: 8] XM430-W350 added. (/dev/ttyUSB0) [ID: 9] XM430-W350 added. (/dev/ttyUSB0) [ID: 10] XM430-W350 added. (/dev/ttyUSB0) [ID: 11] XM430-W350 added. (/dev/ttyUSB0) [ID: 12] XM430-W350 added. (/dev/ttyUSB0) [ID: 13] XM430-W350 added. (/dev/ttyUSB0) [ID: 14] XM430-W350 added. (/dev/ttyUSB0) [ID: 15] XM430-W350 added. (/dev/ttyUSB0) [ID: 16] XM430-W350 added. (/dev/ttyUSB0) [ID: 17] XM430-W350 added. (/dev/ttyUSB0) [ID: 18] XM430-W350 added. (/dev/ttyUSB0) [ID: 19] XM430-W350 added. (/dev/ttyUSB0) [ID: 20] XM430-W350 added. (/dev/ttyUSB0) [ID:200] OPEN-CR added. [ INFO] [1701879658.105651846]: Load offsets... [ WARN] [1701879658.431270536]: Head control - angle unit : 30 [ INFO] [1701879658.440898595]: parse pose for moving init pose [ WARN] [1701879658.441459040]: Get the init gain from Dxl init file [ INFO] [1701879658.581589368]: Go to init pose [ INFO] [1701879658.584365530]: Base Module is enabled [ INFO] [1701879658.600387714]: [start] send trajectory [ INFO] [1701879662.602876886]: [end] send trajectory [ INFO] [1701879918.912824259]: [start] send trajectory [ INFO] [1701879922.914293651]: [end] send trajectory [ INFO] [1701879923.920448878]: Base Module is enabled [ INFO] [1701879923.920552019]: Walking Enable [ INFO] [1701879957.802106806]: Walking Disable [ INFO] [1701879957.802318142]: Walking Enable [ INFO] [1701880008.570901031]: [START] Joint Control [ INFO] [1701880011.569760279]: [END] Joint Control [ INFO] [1701880012.738037000]: [START] Balance Gain [ WARN] [1701880012.740062393]: RLEG IK ERR : -3 [ INFO] [1701880012.740108289]: [FAIL] Task Space Control [ WARN] [1701880020.027369801]: [WARN] Balance is off! [ WARN] [1701880027.752698816]: [WARN] Balance is off! [ WARN] [1701880072.483925606]: [WARN] Balance is off! [ WARN] [1701880372.991804120]: [WARN] Balance is off!

Ashu2515 commented 9 months ago

And when i run this command ( $ roslaunch op3_gui_demo op3_demo_walking.launch) in another terminal after launching "op3_manager " initially before i select any option in the GUI, it was showing this continous stream of warning:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame body_link (parent world) at time 1701880376.258149 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp

But when i select online_walking_module or any other option it is then showing below stream Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame body_link (parent world) at time 0.000000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ INFO] [1701880885.230027969]: Set Mode : online_walking_module Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame body_link (parent world) at time 0.000000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ INFO] [1701880885.717629724]: set current joint module [ INFO] [1701880885.717947519]: Applied Mode [ INFO] [1701880902.577586161]: Send Joint Pose Msg [ INFO] [1701880902.578033616]: Reset Body Pose [ INFO] [1701880905.726291098]: Wholebody Balance Msg